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<p>Agent-based modeling and simulation (ABMS) has been widely employed to study emergent processes in collective robotic construction (CRC), where global architectural structures arise from local agent interactions. While these approaches reveal how complex assemblies can emerge without centralized control, they remain limited when an architectural goal is known but the behaviors required to achieve it are not. Most CRC workflows still depend on handcrafted heuristics. This paper presents a hybrid CRC workflow that integrates large language models (LLM) into the ABMS behavior design process. The system enables human–AI co-creation of robot behaviors, allowing an LLM agent to generate and negotiate behavioral strategies toward user-defined construction goals under partial observability. The approach is evaluated in simulation, comparing an LLM–heuristic hybrid against a heuristic-only baseline behavior. For well-documented swarm patterns, the LLM matches heuristic performance; for geometrically novel tasks, handcrafted heuristics retain an advantage. By embedding language-based reasoning within ABMS, this work expands participation in CRC behavior design and demonstrates a pathway for translating high-level design intent into adaptive, goal-oriented multiagent construction processes.</p>

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LLM-driven behavior generation and negotiation for collective robotic construction

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年7月10日

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  • Samuel Slezák,
  • Lasath Siriwardena,
  • Samuel Leder,
  • Achim Menges

摘要

Agent-based modeling and simulation (ABMS) has been widely employed to study emergent processes in collective robotic construction (CRC), where global architectural structures arise from local agent interactions. While these approaches reveal how complex assemblies can emerge without centralized control, they remain limited when an architectural goal is known but the behaviors required to achieve it are not. Most CRC workflows still depend on handcrafted heuristics. This paper presents a hybrid CRC workflow that integrates large language models (LLM) into the ABMS behavior design process. The system enables human–AI co-creation of robot behaviors, allowing an LLM agent to generate and negotiate behavioral strategies toward user-defined construction goals under partial observability. The approach is evaluated in simulation, comparing an LLM–heuristic hybrid against a heuristic-only baseline behavior. For well-documented swarm patterns, the LLM matches heuristic performance; for geometrically novel tasks, handcrafted heuristics retain an advantage. By embedding language-based reasoning within ABMS, this work expands participation in CRC behavior design and demonstrates a pathway for translating high-level design intent into adaptive, goal-oriented multiagent construction processes.