{"id":"https://openalex.org/W4413789011","doi":"https://doi.org/10.1145/3762675","title":"Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment","display_name":"Interactive Multi-Robot Flocking with Gesture Responsiveness and Musical Accompaniment","publication_year":2025,"publication_date":"2025-08-28","ids":{"openalex":"https://openalex.org/W4413789011","doi":"https://doi.org/10.1145/3762675"},"language":"en","primary_location":{"id":"doi:10.1145/3762675","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3762675","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083347629","display_name":"Catie Cuan","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Catie Cuan","raw_affiliation_strings":["Mechanical Engineering, Stanford University, Stanford, California, USA","Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0002-7233-2659","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Stanford University, Stanford, California, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054987426","display_name":"Kyle Jeffrey","orcid":null},"institutions":[{"id":"https://openalex.org/I1921588","display_name":"University of Wisconsin\u2013Stout","ror":"https://ror.org/01gb8pc70","country_code":"US","type":"education","lineage":["https://openalex.org/I1921588"]},{"id":"https://openalex.org/I4210162173","display_name":"Salinas Valley Memorial Healthcare System","ror":"https://ror.org/05b5v0n31","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210162173"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Jeffrey","raw_affiliation_strings":["Stout Agtech, Salinas, California, USA","Stout Agtech, USA"],"raw_orcid":"https://orcid.org/0009-0007-2302-8697","affiliations":[{"raw_affiliation_string":"Stout Agtech, Salinas, California, USA","institution_ids":["https://openalex.org/I4210162173"]},{"raw_affiliation_string":"Stout Agtech, USA","institution_ids":["https://openalex.org/I1921588"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091962999","display_name":"Kim Kleiven","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107838","display_name":"Robust Chip (United States)","ror":"https://ror.org/01rp86637","country_code":"US","type":"company","lineage":["https://openalex.org/I4210107838"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kim Kleiven","raw_affiliation_strings":["Robust AI, San Carlos, California, USA","Robust AI, USA"],"raw_orcid":"https://orcid.org/0009-0005-4165-7775","affiliations":[{"raw_affiliation_string":"Robust AI, San Carlos, California, USA","institution_ids":["https://openalex.org/I4210107838"]},{"raw_affiliation_string":"Robust AI, USA","institution_ids":["https://openalex.org/I4210107838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114636779","display_name":"Adrian Li-Bell","orcid":null},"institutions":[{"id":"https://openalex.org/I283854653","display_name":"Machine Intelligence Research Institute","ror":"https://ror.org/01h4ass90","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I283854653"]},{"id":"https://openalex.org/I4210131180","display_name":"Design Intelligence (United States)","ror":"https://ror.org/02kg10n19","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131180"]},{"id":"https://openalex.org/I4210145386","display_name":"National Intelligence University","ror":"https://ror.org/049sfwc36","country_code":"US","type":"education","lineage":["https://openalex.org/I4210145386"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adrian Li-Bell","raw_affiliation_strings":["Physical Intelligence, San Francisco, California, USA","Physical Intelligence, USA"],"raw_orcid":"https://orcid.org/0009-0006-3523-6285","affiliations":[{"raw_affiliation_string":"Physical Intelligence, San Francisco, California, USA","institution_ids":["https://openalex.org/I283854653"]},{"raw_affiliation_string":"Physical Intelligence, USA","institution_ids":["https://openalex.org/I4210145386","https://openalex.org/I4210131180"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035310343","display_name":"Emre Fisher","orcid":null},"institutions":[{"id":"https://openalex.org/I2800643029","display_name":"Association for Symbolic Logic","ror":"https://ror.org/00baryp08","country_code":"US","type":"other","lineage":["https://openalex.org/I2800643029"]},{"id":"https://openalex.org/I4210113044","display_name":"Alaska Seafood Marketing Institute","ror":"https://ror.org/0242zbf37","country_code":"US","type":"other","lineage":["https://openalex.org/I4210113044"]},{"id":"https://openalex.org/I4210148718","display_name":"Hermes Microvision (United States)","ror":"https://ror.org/04xphfg38","country_code":"US","type":"company","lineage":["https://openalex.org/I4210148718"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emre Fisher","raw_affiliation_strings":["HMI, ASML, San Jose, Pennsylvania, USA","ASML - HMI, USA"],"raw_orcid":"https://orcid.org/0009-0001-2211-7387","affiliations":[{"raw_affiliation_string":"HMI, ASML, San Jose, Pennsylvania, USA","institution_ids":["https://openalex.org/I4210148718"]},{"raw_affiliation_string":"ASML - HMI, USA","institution_ids":["https://openalex.org/I4210113044","https://openalex.org/I2800643029"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111161623","display_name":"Matt Harrison","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Harrison","raw_affiliation_strings":["Google Inc, Mountain View, California, USA","Google Inc, USA"],"raw_orcid":"https://orcid.org/0009-0007-8769-7179","affiliations":[{"raw_affiliation_string":"Google Inc, Mountain View, California, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"Google Inc, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027704536","display_name":"Benjie Holson","orcid":null},"institutions":[{"id":"https://openalex.org/I4210107838","display_name":"Robust Chip (United States)","ror":"https://ror.org/01rp86637","country_code":"US","type":"company","lineage":["https://openalex.org/I4210107838"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjie Holson","raw_affiliation_strings":["Robust AI, San Carlos, California, USA","Robust AI, USA"],"raw_orcid":"https://orcid.org/0009-0005-4428-648X","affiliations":[{"raw_affiliation_string":"Robust AI, San Carlos, California, USA","institution_ids":["https://openalex.org/I4210107838"]},{"raw_affiliation_string":"Robust AI, USA","institution_ids":["https://openalex.org/I4210107838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067958710","display_name":"Allison M. Okamura","orcid":"https://orcid.org/0000-0002-6912-1666"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allison Okamura","raw_affiliation_strings":["Mechanical Engineering, Stanford University, Stanford, California, USA","Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0002-6912-1666","affiliations":[{"raw_affiliation_string":"Mechanical Engineering, Stanford University, Stanford, California, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5094362776","display_name":"Matt Bennice","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Bennice","raw_affiliation_strings":["NVIDIA Corp., Santa Clara, California, USA","NVIDIA Corporation, USA"],"raw_orcid":"https://orcid.org/0009-0009-3294-4659","affiliations":[{"raw_affiliation_string":"NVIDIA Corp., Santa Clara, California, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"NVIDIA Corporation, USA","institution_ids":["https://openalex.org/I4210127875"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5083347629"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":3.8014,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93330826,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"15","issue":"1","first_page":"1","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.9120795726776123},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.7023480534553528},{"id":"https://openalex.org/keywords/musical","display_name":"Musical","score":0.6914057731628418},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5657219290733337},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5220820307731628},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4910712242126465},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.4567992687225342},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.37245726585388184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25131601095199585},{"id":"https://openalex.org/keywords/visual-arts","display_name":"Visual arts","score":0.21678176522254944},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.19028502702713013}],"concepts":[{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.9120795726776123},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.7023480534553528},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.6914057731628418},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5657219290733337},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5220820307731628},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4910712242126465},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.4567992687225342},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.37245726585388184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25131601095199585},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.21678176522254944},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.19028502702713013}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3762675","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3762675","pdf_url":null,"source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W1481103847","https://openalex.org/W1655191480","https://openalex.org/W1841642927","https://openalex.org/W1911684995","https://openalex.org/W1964067119","https://openalex.org/W2007148882","https://openalex.org/W2014192044","https://openalex.org/W2032568497","https://openalex.org/W2081631327","https://openalex.org/W2085436006","https://openalex.org/W2090768711","https://openalex.org/W2106803048","https://openalex.org/W2123549132","https://openalex.org/W2144511468","https://openalex.org/W2149411511","https://openalex.org/W2150312211","https://openalex.org/W2171976581","https://openalex.org/W2267863633","https://openalex.org/W2323517794","https://openalex.org/W2463262359","https://openalex.org/W2549442913","https://openalex.org/W2587598105","https://openalex.org/W2594562997","https://openalex.org/W2595229763","https://openalex.org/W2611714042","https://openalex.org/W2736361778","https://openalex.org/W2772300417","https://openalex.org/W2783072185","https://openalex.org/W2808165585","https://openalex.org/W2899594871","https://openalex.org/W2902181302","https://openalex.org/W2936516903","https://openalex.org/W2941592508","https://openalex.org/W2952821439","https://openalex.org/W2962773068","https://openalex.org/W2970757525","https://openalex.org/W2981957239","https://openalex.org/W2998805586","https://openalex.org/W3018490575","https://openalex.org/W3032058861","https://openalex.org/W3039691915","https://openalex.org/W3086251632","https://openalex.org/W3093989807","https://openalex.org/W3127511342","https://openalex.org/W3182046820","https://openalex.org/W3202367151","https://openalex.org/W3209416870","https://openalex.org/W4246535998","https://openalex.org/W4248056173","https://openalex.org/W4281685026","https://openalex.org/W4401392379"],"related_works":["https://openalex.org/W2463859027","https://openalex.org/W2946643217","https://openalex.org/W2473026536","https://openalex.org/W14374595","https://openalex.org/W2019233767","https://openalex.org/W2745478210","https://openalex.org/W2142421361","https://openalex.org/W2042499210","https://openalex.org/W4254718650","https://openalex.org/W4244451296"],"abstract_inverted_index":{"For":[0],"decades,":[1],"robotics":[2],"researchers":[3],"have":[4],"pursued":[5],"various":[6],"tasks":[7,19,26],"for":[8,84,109,142,153],"multi-robot":[9,21,66,233,243],"systems,":[10],"from":[11,40,203],"cooperative":[12],"manipulation":[13],"to":[14,74,87,90,176],"search":[15],"and":[16,27,42,76,93,112,119,134,157,236,238],"rescue.":[17],"These":[18],"are":[20,123],"extensions":[22],"of":[23,161,210,242],"classical":[24],"robotic":[25],"often":[28],"optimized":[29],"on":[30],"dimensions":[31],"such":[32,51,116,228],"as":[33,52,117,124,229],"speed":[34],"or":[35,54,199],"efficiency.":[36],"As":[37],"robots":[38],"transition":[39],"commercial":[41],"research":[43,105],"settings":[44],"into":[45],"everyday":[46],"environments,":[47],"social":[48],"task":[49,67,226],"aims":[50,227],"engagement":[53,230],"entertainment":[55],"become":[56],"increasingly":[57],"relevant.":[58],"This":[59,221],"work":[60,222],"presents":[61],"a":[62,65,85,96,127,138,148,159,163,167,193,196],"designerly":[63],"contribution\u2014building":[64],"in":[68,95,232],"which":[69],"the":[70,81,104,184,204,208,211,217,240],"main":[71],"aim":[72],"is":[73,83],"enthrall":[75],"interest.":[77],"In":[78],"this":[79,102],"task,":[80],"goal":[82],"human":[86,133,179,194],"be":[88],"drawn":[89],"move":[91],"alongside":[92],"participate":[94],"dynamic,":[97,168],"expressive":[98],"robot":[99,110,135],"flock.":[100],"Towards":[101],"aim,":[103],"team":[106],"created":[107],"algorithms":[108],"movements":[111],"engaging":[113],"interaction":[114],"modes":[115,190],"gestures":[118],"sound.":[120],"The":[121],"contributions":[122],"follows:":[125],"(1)":[126],"novel":[128],"group":[129],"navigation":[130],"algorithm":[131,141],"involving":[132],"agents,":[136],"(2)":[137],"gesture":[139],"responsive":[140],"real-time,":[143],"human\u2013robot":[144],"flocking":[145,155],"interaction,":[146],"(3)":[147],"weight":[149,189,218],"mode":[150,219],"characterization":[151],"system":[152,234],"modifying":[154],"behavior,":[156],"(4)":[158],"method":[160],"encoding":[162],"choreographer\u2019s":[164],"preferences":[165],"inside":[166],"adaptive,":[169],"learned":[170,197],"system.":[171],"An":[172],"experiment":[173,205],"was":[174,213],"performed":[175],"understand":[177],"individual":[178],"behavior":[180],"while":[181],"interacting":[182],"with":[183],"flock":[185],"under":[186],"three":[187],"conditions:":[188],"selected":[191],"by":[192,216],"choreographer,":[195],"model,":[198],"subset":[200],"list.":[201],"Results":[202],"indicated":[206],"that":[207],"perception":[209],"experience":[212],"not":[214],"influenced":[215],"selection.":[220],"elucidates":[223],"how":[224],"differing":[225],"manifest":[231],"design":[235],"execution,":[237],"broadens":[239],"domain":[241],"tasks.":[244]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}