DARPA Programmable Matter (2007-09)
documentedresearch_programFoglets / Programmable-Matter Season
Documented program; no craft-scale build (~10^9x gap).
Ran as a real program; demonstrated mesoscale-particle assembly, no craft-scale build. Zakin 2006 ISAT study claimed <10 yr feasibility; ~20 yr on the ceiling is unchanged in kind.