I can imagine a bunch of robots building a building and not colliding with each others work. You could do it without rt sensing but that's a lot of messages you could avoid.
If you are going to involve robots, you would have them operate to a central plan, not invent their own. This means temporarily fencing off nominally exclusive spaces would be relatively straightforward.
Incidentally, I have an acquaintance who is heavily (tens of millions USD) invested in scaling a new business in the custom building domain. The concept is that a site is surveyed, a design set, then they pre-fab the building structure, ship it (internationally) flatpack in shipping containers, and - though it's manual for now - eventually assemble with robotics, an area in which they have been aggressively inventing and acquiring patents. I haven't asked but I very much doubt they are focusing on inter-agent motion planning as a priority.
It's complex enough, and that's essentially an avoidable problem.