  We introduce Swarm Fabrication, a novel concept of creating on-demand,
scalable, and reconfigurable fabrication machines made of swarm robots. We
present ways to construct an element of fabrication machines, such as motors,
elevator, table, feeder, and extruder, by leveraging toio robots and 3D printed
attachments. By combining these elements, we demonstrate constructing a X-Y-Z
plotter with multiple toio robots, which can be used for drawing plotters and
3D printers. We also show the possibility to extend our idea to more
general-purpose fabrication machines, which include 3D printers, CNC machining,
foam cutters, line drawing devices, pick and place machines, 3D scanning, etc.
Through this, we draw a future vision, where the swarm robots can construct a
scalable and reconfigurable fabrication machines on-demand, which can be
deployed anywhere the user wishes. We believe this fabrication technique will
become a means of interactive and highly flexible fabrication in the future.
