Armyn, LucasLee, JoshuaLim, MateoO'Leary, EricPervez, WasifTsegaye, HanockRaspa, SierraProgrammable matter is well-researched from a theoretical perspective, but existing prototypes are yet to demonstrate all possible functionalities. This project aimed to create a functional system of self-assembling robots by integrating ideas from various projects. Areas of interest were the robot shape, electronics, actuation/latching method, wireless communication, and assembly algorithm. Electropermanent magnets were thought to be viable for latching with minimal power requirements, but material availability issues and insufficient magnetic force output were obstacles to successful actuation. Standard solenoids were considered as an alternative but also unsuccessful due to low magnetic force output. Currently, no alternative for actuation at this prototype’s scale has been found. An assembly algorithm was created that succeeds in small-scale situations required by the prototype, but would have issues being scaled; alternatives have been identified but not implemented. Overall, this prototype system was not functional but discovered important limitations on actuation previously considered theoretically viable.en-USGemstone Team SANDThesis