The Sound of Swarm. Auditory Description of Swarm Robotic Movements

Movements of robots in a swarm can be mapped to sounds, highlighting the group behavior through coordinated and simultaneous variations musical parameters across time. The vice versa is also possible: sound robotic motion parameters, giving instructions sound. In this article, we first develop theoretical framework relate such as pitch, timbre, loudness, articulation (for each time) with position, identity, motor status, sensor status. We propose definition spaces Hilbert spaces, paths between elements bigroupoids, generalizing existing conceptions spaces. use allows us build up quantum representations states, inheriting computing resources, already used for swarms. present then some case studies toy examples. particular, discuss 2D video matrix simulation two robo-caterpillars; 10 robo-ants Webots; 3D three robo-fish an underwater search&rescue mission.