Methods for operating mechatronic transforming luminaire swarms

A method for operating a robotic agent swarm system, the method comprising:

• identifying a reconfiguration trigger and generating a reconfiguration instruction based on the reconfiguration trigger;
• sending, via a communication network, the reconfiguration instruction from an orchestration controller to a plurality of robotic luminaire agents, each of the plurality of robotic luminaire agents of the swarm system being held at least periodically against an architectural surface comprising a holonomic operational area by a suspension and having a light source configured to illuminate a region in a proximity of the architectural surface;
• and
• changing one or more operating conditions of one or more of the plurality of robotic luminaire agents in response to the reconfiguration instruction, including holonomically moving at least one of the plurality of robotic luminaire agents from a first position on the holonomic operational area to a second position on the holonomic operational area;
• wherein:
• the reconfiguration trigger comprises detecting a change in respective light intensity at a plurality of measurement locations in the region in the proximity of the architectural surface, and
• the reconfiguration instruction comprises an instruction to change one or more of a respective light intensity output of the respective controllable light source of the one or more of the plurality of robotic luminaire agents, and changing a physical position of the one or more of the plurality of robotic luminaire agents, to equalize the respective light intensities at the plurality of measurement locations.