Here is a framework for manufacturing with robot swarms. FIBERBOTS enables designing and digitally fabrication large scale structures using robotic nodes to tune the material make-up of the structure on the fly based on the environment.
As the researchers explain:
The FIBERBOTS are a swarm of robots designed to wind fiberglass filament around themselves to create high-strength tubular structures. These structures can be built in parallel and interwoven to rapidly create architectural structures.
The robots are mobile and use sensor feedback to control the curvature and length of each individual tube. 16 robots were used autonomously to create a 4.5m tall structure.