In this paper, we present Misaka, a visualized swarm testbed for smart grid algorithm evaluation, also an extendable open-source open-hardware platform for developing tabletop tangible swarm interfaces. The platform consists of a collection of custom-designed 3 omni-directional wheels robots each 10 cm in diameter, high accuracy localization through a microdot pattern overlaid on top of the activity sheets, and a software framework for application development and control, while remaining affordable (per unit cost about 30 USD at the prototype stage). We illustrate the potential of tabletop swarm user interfaces through a set of smart grid algorithm application scenarios developed with Misaka.

翻译：摘要：本文介绍了Misaka，一个用于智能电网算法评估的可视化群智能测试平台，同时也是开发桌面有形群智能交互界面的可扩展开源软硬件平台。该平台由一组定制的3个全向轮式机器人（每个直径10厘米）组成，通过覆盖在活动图纸上的微点图案实现高精度定位，并配备用于应用开发与控制的软件框架，同时保持经济性（原型阶段单台成本约30美元）。我们通过基于Misaka开发的一系列智能电网算法应用场景，展示了桌面群智能用户界面的潜力。