# Generating Legible and Glanceable Swarm Robot Motion through Trajectory, Collective Behavior, and Pre-attentive Processing Features

> Research article (ACM Transactions on Human-Robot Interaction, 2021) · cited 17× · AI/ML

**Wikidata**: [openalex:W3182046820](https://www.wikidata.org/wiki/openalex:W3182046820)  
**Source**: https://4ort.xyz/entity/generating-legible-and-glanceable-swarm-robot-motion-through-trajectory-collective-behavior-and-pre-attentive-processing