THIS PROPOSAL IS FOR RESEARCH ON THE NASA ARMADAS PROJECT WHICH IS DEVELOPING AND DEMONSTRATING AUTONOMOUS ASSEMBLY OF DIGITAL MATERIALS/STRUCTURES. PRESENT WORK AT NASA AMES IS DEVELOPING ROBOTS AND MATERIAL SYSTEM TO MEET ASSEMBLY AND STRUCTURAL PERFORMANCE GOALS. RESEARCH AT CBA ADDRESSES MODULARITY AND FLEXIBILITY ACROSS HARDWARE AND SOWARE DOMAINS AND OUR WORK FOR THIS PHASE WILL APPLY THESE CAPABILITIES IN THREE AREAS TO CONTRIBUTE TO THE ARMADAS PROJECT GOALS: SCALING MULTI-ROBOT CONSTRUCTION (PRIMARY AREA) DIGITAL ASSEMBLY WORKFLOWS AND DISCRETE ROBOTICS (SECONDARY AREAS).