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We illustrate the algorithm in both single robot and multi-robot cases via simulations and describe how to solve key technical challenges to implementing this algorithm via a robotic prototype.<\/jats:p>","DOI":"10.1017\/s0263574714000113","type":"journal-article","created":{"date-parts":[[2014,2,26]],"date-time":"2014-02-26T13:42:01Z","timestamp":1393422121000},"page":"279-290","source":"Crossref","is-referenced-by-count":36,"title":["Distributed amorphous ramp construction in unstructured environments"],"prefix":"10.1017","volume":"32","author":[{"given":"Nils","family":"Napp","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Radhika","family":"Nagpal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,2,26]]},"reference":[{"key":"S0263574714000113_ref20","volume-title":"The Externded Organism. 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