The Sound of Swarm. Auditory Description of Swarm Robotic Movements

IF 4.2 Q2 ROBOTICS
Maria Mannone, V. Seidita, A. Chella
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引用次数: 0

Abstract

Movements of robots in a swarm can be mapped to sounds, highlighting the group behavior through the coordinated and simultaneous variations of musical parameters across time. The vice versa is also possible: sound parameters can be mapped to robotic motion parameters, giving instructions through sound. In this article, we first develop a theoretical framework to relate musical parameters such as pitch, timbre, loudness, and articulation (for each time) with robotic parameters such as position, identity, motor status, and sensor status. We propose a definition of musical spaces as Hilbert spaces, and musical paths between parameters as elements of bigroupoids, generalizing existing conceptions of musical spaces. The use of Hilbert spaces allows us to build up quantum representations of musical states, inheriting quantum computing resources, already used for robotic swarms. We present the theoretical framework and then some case studies as toy examples. In particular, we discuss a 2D video and matrix simulation with two robo-caterpillars; a 2D simulation of 10 robo-ants with Webots; a 3D simulation of three robo-fish in an underwater search&rescue mission.
蜂群之声。蜂群机器人运动的听觉描述
机器人在群体中的运动可以映射为声音,通过协调和同步的音乐参数随时间变化来突出群体行为。反之亦然:声音参数可以映射到机器人的运动参数,通过声音发出指令。在本文中,我们首先建立了一个理论框架,将音乐参数(如音调、音色、响度和发音)与机器人参数(如位置、身份、运动状态和传感器状态)联系起来。我们将音乐空间定义为希尔伯特空间,并将参数间的音乐路径定义为大群似体的元素,从而推广了现有的音乐空间概念。希尔伯特空间的使用允许我们建立音乐状态的量子表示,继承量子计算资源,已经用于机器人群。我们提出了理论框架,然后作为玩具样例进行了一些案例研究。特别地,我们讨论了一个二维视频和矩阵模拟与两个机器人毛毛虫;用Webots对10只机器人蚂蚁进行二维模拟;水下搜救任务中三条机器鱼的三维模拟。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
ACM Transactions on Human-Robot Interaction
ACM Transactions on Human-Robot Interaction Computer Science-Artificial Intelligence
CiteScore
7.70
自引率
5.90%
发文量
65
期刊介绍: ACM Transactions on Human-Robot Interaction (THRI) is a prestigious Gold Open Access journal that aspires to lead the field of human-robot interaction as a top-tier, peer-reviewed, interdisciplinary publication. The journal prioritizes articles that significantly contribute to the current state of the art, enhance overall knowledge, have a broad appeal, and are accessible to a diverse audience. Submissions are expected to meet a high scholarly standard, and authors are encouraged to ensure their research is well-presented, advancing the understanding of human-robot interaction, adding cutting-edge or general insights to the field, or challenging current perspectives in this research domain. THRI warmly invites well-crafted paper submissions from a variety of disciplines, encompassing robotics, computer science, engineering, design, and the behavioral and social sciences. The scholarly articles published in THRI may cover a range of topics such as the nature of human interactions with robots and robotic technologies, methods to enhance or enable novel forms of interaction, and the societal or organizational impacts of these interactions. The editorial team is also keen on receiving proposals for special issues that focus on specific technical challenges or that apply human-robot interaction research to further areas like social computing, consumer behavior, health, and education.
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