Zooids: Building Blocks for Swarm User Interfaces

@article{Goc2016ZooidsBB,
  title={Zooids: Building Blocks for Swarm User Interfaces},
  author={Mathieu Le Goc and Lawrence H. Kim and Ali Parsaei and Jean-Daniel Fekete and Pierre Dragicevic and Sean Follmer},
  journal={Proceedings of the 29th Annual Symposium on User Interface Software and Technology},
  year={2016}
}
This paper introduces swarm user interfaces, a new class of human-computer interfaces comprised of many autonomous robots that handle both display and interaction. We describe the design of Zooids, an open-source open-hardware platform for developing tabletop swarm interfaces. The platform consists of a collection of custom-designed wheeled micro robots each 2.6 cm in diameter, a radio base-station, a high-speed DLP structured light projector for optical tracking, and a software framework for… 
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