After almost a decade of relentless development, pervasive urban displays have fragmented into a diversity of approaches with radically distinct characteristics in terms of how mobile they are, as well as the materials they are made of. In this article, we investigate such a diversity in terms of the relationships between key conceptual entities of pervasive urban displays, namely the displayed content, the enabling display technology and the surrounding physical environment. First, we propose a taxonomy for pervasive urban displays through two dimensions: increasing levels of physical integration of content into the surrounding environment (attached, blended, physicalised), and increasing levels of mobility of the display technology within the environment (fixed, portable, self-moving). We extend this taxonomy through looking at the relationship between content and display technology from a conceptual lens and present two categories, namely Screens and Printers. We then provide a classification of current approaches to the design of pervasive displays along these two dimensions and categories, and introduce a new class of pervasive display, which we call pulverised urban displays (PUDs). These displays represent content in a physical form, entangled with the built and natural environment which are capable of an autonomous change to their position. Drawing on urban robotic devices and their capability to sense and manipulate the environment or act as a display itself, we present examples of PUDs. Finally, this article concludes with challenges for designing self-moving robotic and pulverised urban displays.

经过近十年的不懈发展，无处不在的城市展示已分裂为多种方法，这些方法在移动性和材质方面都具有根本不同的特征。在本文中，我们从普及的城市展示的关键概念实体（即展示的内容，使能的展示技术和周围的自然环境）之间的关系方面研究了这种多样性。首先，我们通过两个维度为普及的城市展示提出分类标准：提高内容与周围环境的物理集成水平（附加，混合，物理化），以及展示技术在环境中的移动性水平（固定，便携式，自我移动）。屏幕和打印机。然后，我们沿着这两个维度和类别对普及展示设计的当前方法进行分类，并介绍一类新的普及展示，我们称之为粉化城市展示（PUD）。这些显示以物理形式表示内容，并与可自动改变其位置的建筑环境和自然环境纠缠在一起。借助城市机器人设备及其感知和操纵环境或充当显示器本身的功能，我们提供了PUD的示例。最后，本文以设计自动移动的机器人和粉碎的城市展示台面临挑战。