During the Architectural Association School in London they are working on the Graduate Design program on design studies on "Behavioural Complexity", especially 3D printed and pneumatic robots that serve a single, very specific purpose or function according to a single "simple" algorithm. For example, Synergia is a concept for programmable matter with pneumatic robot cube swarms, OwO are something like robot maggots for public space.
Creative Applications has an overview of the Final theses 2016. The info texts can be half ignored, there is always a lot of pretentious design bells and whistles from turtleneck sweaters, but the work itself could actually be done for NASA and its pneumatic modules like that Bigelow Space Habitat to be interesting.
The following is the work from AADRL Spyropoulos Design Lab, which has been exploring behavior based design systems that are self-aware, mobile, and self-structure and assemble. The research explores high population mobility agents that evolve design that moves beyond finite conceptions of space towards one that co-evolves and adapts. The research looks at developing strategies of intelligent design units that through organization develop body plans that afford new behaviors to emerge. An example of this is OWO project below which as a singular unit is conceptualized as a unit that through embedded pneumatics allows the unit to expand / contract, curl, and roll. With respect to mobility as an individual unit it can roll in its mobility mode, but for example a unit connects to two other units then the body plan allows for a tripod configuration, which allows the creature to walk.