  Living cells exhibit both growth and regeneration of body tissues. Epigenetic
Tracking (ET), models this growth and regenerative qualities of living cells
and has been used to generate complex 2D and 3D shapes. In this paper, we
present an ET based algorithm that aids a swarm of identically-programmed
robots to form arbitrary shapes and regenerate them when cut. The algorithm
works in a distributed manner using only local interactions and computations
without any central control and aids the robots to form the shape in a
triangular lattice structure. In case of damage or splitting of the shape, it
helps each set of the remaining robots to regenerate and position themselves to
build scaled down versions of the original shape. The paper presents the shapes
formed and regenerated by the algorithm using the Kilombo simulator.
