  Social insects in nature such as ants, termites and bees construct their
colonies collaboratively in a very efficient process. In these swarms, each
insect contributes to the construction task individually showing redundant and
parallel behavior of individual entities. But the robotics adaptations of these
swarm's behaviors haven't yet made it to the real world at a large enough scale
of commonly being used due to the limitations in the existing approaches to the
swarm robotics construction. This paper presents an approach that combines the
existing swarm construction approaches which results in a swarm robotic system,
capable of constructing a given 2 dimensional shape in an optimized manner.
