Swarm behaviour engineering is an area of research that seeks to investigate
methods and techniques for coordinating computation and action within groups of
simple agents to achieve complex global goals like pattern formation,
collective movement, clustering, and distributed sensing. Despite recent
progress in the analysis and engineering of swarms (of drones, robots,
vehicles), there is still a need for general design and implementation methods
and tools that can be used to define complex swarm behaviour in a principled
way. To contribute to this quest, this article proposes a new field-based
coordination approach, called MacroSwarm, to design and program swarm behaviour
in terms of reusable and fully composable functional blocks embedding
collective computation and coordination. Based on the macroprogramming paradigm
of aggregate computing, MacroSwarm builds on the idea of expressing each swarm
behaviour block as a pure function mapping sensing fields into actuation goal
fields, e.g. including movement vectors. In order to demonstrate the
expressiveness, compositionality, and practicality of MacroSwarm as a framework
for collective intelligence, we perform a variety of simulations covering
common patterns of flocking, morphogenesis, and collective decision-making.

通过宏规模编程范例，基于感应场域实现纯函数式模块，这篇文章提出了一个名为宏群体的协调方法，用于设计和编程群体行为，以达到复杂的全局目标，如模式形成、集体运动、聚类和分布式感知。