Abstract
We study coordinated operations between micro-scale swarms (micron–millimeter agents for regolith processing) and macro-scale robots (haulers, printers) for planetary engineering. We propose a hierarchical market-based scheduler with energy-aware auctions (HMA) implemented in Gossamer and executed in Leviathan with energy/physics fields. Micro swarms locally optimize excavation and sintering via emergent behaviors; macro fleets allocate hauling/printing tasks via decentralized auctions respecting state-of-charge (SOC) and wear. Across lunar-base construction scenarios, HMA increased throughput by 31% and reduced idle time by 44% relative to first-come-first-serve (FCFS) baselines, while lowering energy per kilogram by 18%. Under failures (10% micro mortality, 5% macro downtime), HMA maintained ≥87% throughput with task reallocation latencies under 12s. Maneuver.Map orchestrations reveal stable macro–micro interfaces: buffer depots decouple rates, and role rotation avoids energy death spirals. Our results suggest that macro–micro synergy with energy-aware markets enables resilient, efficient planetary construction without centralized control.