Fig. 6: Structure formation with rotorcraft assistance.
From: Modular shape-changing tensegrity-blocks enable self-assembling robotic structures
a Adaptive scaffolding formation: block-rotorcraft pair transports the block (t = 23 s), assembles the structure (t = 147 s), and deploys a solar panel (t = 238 s–247 s), with the completed scaffolding rotating up to 360 degrees. b Rotorcraft-assisted bridge formation: modules start in a box (t = 0 s), the rotorcraft forms blocks into a vertical structure (t = 63 s), tilts the structure (t = 800  s), and completes a bridge over a 2-block width gap (t = 814 s). c (i) Rotorcraft aiding in tent skeleton assembly (t = 165 s), dropping a block with covering cloth (t = 229 s), and tent completion with the stretched skeleton (t = 366 s). (ii) Top and 3D views of the block-based tent skeleton.
