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 asnd 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.

本文探讨了一群小型移动机器人在机器人之间的交互作用下的表达能力，以及它们对所谓的基本情感的映射。特别是，我们调查了出于艺术博览会的目的，如何将与不同情绪相关联的运动和形状描述子整合到不同的群体行为中。基于社会心理学的这些特征，创建了一组群体行为，其中每种行为都与一种基本情感相对应。在一项调查中评估了这些行为的有效性，要求参与者将不同的群体行为与基本情绪相关联。调查结果表明，大多数研究参与者为每个视频分配了设计要刻画的情感。这些结果证实，与社会心理学中不同的基本情感相关的抽象描述符提供了有用的运动特征，这些特征可以有效地转化为成群的简单地面移动机器人的表现行为。