This paper describes a hybrid control structure, working scenarios and logic of working cycles during the assembly of an unlimited sequence of assembly orders in a bionic assembly system (BAS). Focus is given on the realization of the communication between subsystems, different modes of the assembly process and scheduling strategies and basic tasks of mobile robots during assembly. BAS is a new concept in advanced assembling systems, which combines two basic control structures and principles: a centralized control system, based on the hierarchy, and a self-organizing control system, based on the heterarchy.

Selforganisation is wide used concept of organisation of material, energy and information in space and/or time. in this article the different aspects, definitions and characteristics of the selforganisation in the nature are analysed. The first complex selforganising assembly system, proposed by Professor Katalinic in 1999, and known as Bionic Assembly System is shown. The difference between the selforganisation in the nature and technology is discussed.