This paper explores the expressive capabilities of a swarm of miniature mobile robots within the context of inter-robot interactions and their mapping to the so-called fundamental emotions. In particular, we investigate how motion and shape descriptors that are psychologically associated with different emotions can be incorporated into different swarm behaviors for the purpose of artistic expositions. Based on these characterizations from social psychology, a set of swarm behaviors is created, where each behavior corresponds to a fundamental emotion. The effectiveness of these behaviors is evaluated in a survey in which the participants are asked to associate different swarm behaviors with the fundamental emotions. The results of the survey show that most of the research participants assigned to each video the emotion intended to be portrayed by design. These results confirm that abstract descriptors associated with the different fundamental emotions in social psychology provide useful motion characterizations that can be effectively transformed into expressive behaviors for a swarm of simple ground mobile robots.

中文翻译：

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从动作到情感：基本情感可以在机器人群中表达吗？

本文探讨了一群微型移动机器人在机器人间交互的背景下的表达能力及其与所谓的基本情感的映射。特别是，我们研究了如何将与不同情绪在心理上相关的运动和形状描述词纳入不同的群体行为，以达到艺术展示的目的。基于来自社会心理学的这些特征，创建了一组群体行为，其中每个行为对应于一种基本情绪。这些行为的有效性在一项调查中得到评估，其中要求参与者将不同的群体行为与基本情绪联系起来。调查结果显示，大多数研究参与者为每个视频分配了旨在通过设计描绘的情感。这些结果证实，与社会心理学中不同基本情绪相关的抽象描述符提供了有用的运动特征，可以有效地转化为一群简单的地面移动机器人的表达行为。