# Augmented Reality for Human-Swarm Interaction in a Swarm-Robotic Chemistry Simulation

arXiv: https://arxiv.org/abs/1912.00951 · HTML: https://mlsanity.com/paper/1912.00951/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Dec 2019.

## Built on by (most cited first, 1 of 1)

- [Decentralised construction of a global coordinate system in a large swarm of minimalistic robots](https://mlsanity.com/paper/2302.14587/) (2023)

## Abstract (arXiv)

We present a method to register individual members of a robotic swarm in an augmented reality display while showing relevant information about swarm dynamics to the user that would be otherwise hidden. Individual swarm members and clusters of the same group are identified by their color, and by blinking at a specific time interval that is distinct from the time interval at which their neighbors blink. We show that this problem is an instance of the graph coloring problem, which can be solved in a distributed manner in O(log(n)) time. We demonstrate our approach using a swarm chemistry simulation in which robots simulate individual atoms that form molecules following the rules of chemistry. Augmented reality is then used to display information about the internal state of individual swarm members as well as their topological relationship, corresponding to molecular bonds.