Robots that build together.

We develop decentralized robotic construction: fleets of robots that share one plan, choose their own work and check every placement. No central controller.

LEGOSwarm is our research platform. Its robots assemble LEGO structures, a precise and testable stand-in for structured physical work.

Read the white paper See how it works

Visualization

A wide daylit concrete hall; small white robots work on a stone plinth at its centre.

01 The worker

One robot, built to be one of many.

Each worker is a self-contained mobile manipulator. A two-wheeled base handles coarse positioning across the build field. A compact arm handles fine placement.

Onboard AI compute runs perception, planning and the swarm software. Beside it, a real-time microcontroller keeps the wheels and the safe state on time.

Artistic visualization

A single white worker robot with an articulated arm and a depth camera, lit on black.

02 Inside the worker

Every assembly has one job.

Taken apart, the worker is a short list of clear responsibilities. Select one to see what it does.

Two geared motors with encoders turn the wheels. The base gets the robot close; the arm does the rest.
An octa-core Linux processor with an NPU of up to 40 TOPS runs perception, planning and the swarm. A real-time microcontroller owns the wheels and the safe state.
Colour plus depth. It finds parts, guides the grasp and checks each placement.
An articulated arm for local positioning and controlled insertion. Its actuators are still being chosen.
Compliant and force-limited, so a brick seats firmly without pushing the robot back.
One battery behind a main fuse. The main switch is the hard stop.
Show the robot's state to people nearby. They display; they never decide.
A low, stiff frame that keeps the battery and electronics close to the floor.

A real frame from the prototype camera: loose LEGO parts on a table, each boxed with the detector's part number and confidence. — Real capture A frame from our prototype camera, with the trained detector's own output.

The worker separated into its assemblies: wheels, chassis, battery, compute board, shell, status ring, camera, arm and gripper.

03 Building together

Many robots. One build.

Every worker carries a copy of the same plan, the Assembly Graph. Each brick is a job. A job becomes available only when the bricks beneath it are complete.

Claim. A free robot claims an available job and tells its peers. Ties resolve the same way on every robot.
Build. It fetches the part, drives in and places it.
Verify. It checks the placement against the plan before calling it complete.
Continue. Completion unlocks the jobs that depend on it.

About two messages per job. No polling, no scheduler. If a robot stops mid-job, its claim expires and a peer takes over. In simulation, builds still complete after losing a third of the robots.

Visualization · real 61-brick assembly graph

Six robots around a half-built LEGO model; thin lines link each robot to the brick it has claimed.

04 The shared plan

No single robot holds the master plan.

Yet every robot knows where the project stands. WEAVE, the Workload Execution and Autonomous Verification Engine, treats construction as a shared record of events, not a stream of commands.

People define the outcome. It is authored once into the plan, and robots never rewrite it.
The authoritative plan: one node per job, edges for what must come first. Every robot holds a versioned replica.
Robots pull work; nobody assigns it. A claim is a lease that must be renewed, so a silent robot's work reopens on its own.
An append-only history of claims, placements and revisions. Replaying it brings every robot to the same state.
Each robot checks its own work against the plan. A failure releases the job for a retry instead of passing the error on.

Read the architecture

The bricks lifted into a floating graph: rings of nodes by dependency wave around a central core; rings mark the jobs robots have claimed.

05 Beyond the arena

Made for places where coordination is hard.

LEGO is the proving ground: precise, repeatable and honest about every mistake. The architecture aims at structured physical work wherever links are slow, networks split and machines fail. Remote sites. Hazardous ground. One day, construction beyond Earth.

Concept · not a current capability

Concept: a fleet of robots assembling a low modular structure on a grey lunar plain under a black sky.

06 Where it stands

Proven in simulation. Built to go much further.

Complete

One shared plan, no central controller
Builds that survive losing robots mid-job
Vision-guided assembly, checked placement by placement

Ahead

Fleets of real robots building together
Construction where people cannot easily go
Orbital assembly and planetary construction

White paper WEAVE: the Workload Execution and Autonomous Verification Engine Event sourcing, leases and Build, Verify, Continue for swarm assembly. Dev log Engineering journal What was built, when, and what it taught us. Source GitHub The LEGOSwarm project.