A principled approach to swarm-based wall-building

In this paper, we apply a theoretical swarm-generating technique to a system implementing cluster-based construction. The technique, known as swarm engineering consists of two stages. In the first stage, which is top down, the global goal is expressed in such a way that specific conditions may be developed which, when satisfied, guarantees achievement of the global goal. The second step, which is bottom up, concerns the design of specific agents. These agents, once built in accordance with the conditions from the top-down step, will provably lead to the global goal. We develop parts of this theory and apply them to the cluster-based construction problem.