Table 1 Examples of key principles extracted from collective construction in nature and related publications in the field of robotics.

Key biological principleReferences
Algorithms
  Stigmergy(9, 11, 22, 24, 25, 45, 52, 70)
  Templates(22, 24)
  Blind bulldozing(6, 71)
  Reactive and interactive construction(11, 51, 52, 63)
  Task allocation(41, 54, 72)
  Specialization(73)
Mechanisms
  Robot/brick codesign(27, 48, 69, 74)
Materials
  Compliant materials(22, 24, 57)
  Amorphous depositions(57)
  Fibers(35, 66)