群机器人绘图系统

he paper explained the theory of "Robot Swarm Drawing System (RSDS)" which was designed by the author. RSDS is a kind of distributed system made up of mobile robot swarm. It has potential of drawing super large pictures automatically and rapidly on vast fields and huge buildings, even these places are where human cannot reach. In RSDS, robots with simple structure can do complicated works by cooperation. They can draw many kinds of complex figures, even fractal patterns. The theory of RSDS is that, under the control of the "drawing genes", the mobile robot swarm conducts swarm-cooperation drawing organizationally through "drawing expression". The drawing composition of RSDS is an overall expression in the macroscopic level which comes from selective starting of the "drawing genes" in every robot in the microscopic level. The paper elaborates concepts of "drawing gene" and "drawing mutation". Besides, a special RSDS: "cluster-mode RSDS" was also expounded. Such system can make more advanced "drawing expression". Various pictures of RSDS and some drawing processes were displayed in the paper, and relative videos were also offered along with the paper. The artworks made by RSDS also showed special artistic style, and proved the aesthetic value of RSDS.