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We present progress on the problem of reconfiguring a 2D arrangement ofbuilding material by a cooperative set of robots. These robots are subjected tothe constraints of avoiding obstacles and maintaining connectivity of thestructure. We develop two reconfiguration methods, one based on spatio-temporalplanning, and one based on target swapping. Both methods achieve coordinatedmotion of robots by avoiding deadlocks and maintaining all constraints. Bothmethods also increase efficiency by reducing the amount of waiting times andlowering combined travel costs. The resulting progress is validated bysimulations that also scale the number of robots.

Cooperative 2D Reconfiguration using Spatio-Temporal Planning and Load Transferring