Universal configurations with O(hw) particles assemble any h×w patterned rectangle or bounded connected shape; occupancy, relocation, and reconfiguration problems are PSPACE-complete with polyominoes.
Becker, and Sndor Fekete, Efficient parallel self- assembly under uniform control inputs , IEEE Robotics and Automation Letters (2018), 1–1
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Full Tilt: Universal Constructors for General Shapes with Uniform External Forces
Universal configurations with O(hw) particles assemble any h×w patterned rectangle or bounded connected shape; occupancy, relocation, and reconfiguration problems are PSPACE-complete with polyominoes.