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The paper presents a work in the field of 'mixed reality boundaries' applied to the visualization of museum collections in order to display the collections 'live' as a way to extend virtually the preservation areas of museum collections. To achieve this goal, it was set out to integrate several virtual-studio techniques with multicasting IP in the web and the 'tectonics' of museums architecture were also redesigned to turn this sort of new infrastructure into what will be a new typology of mixed architectures for museum preservation areas. Dynamic lighting for Chroma-keying techniques were adapted to the real time applications and a MR J3D collision tool was added to the remote motion control of the video camera´s 3d scene live navigation.

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In this paper we present a formulation of a swarm algorithm for some predefined formations and we show that using the control laws derived, the whole system is stable. Furthermore, the algorithm for the formation is implemented in microcontrollers, which effectively makes the experiment a system of systems. The only input for the algorithm is the position of the robot and the relative positions of neighbours within two metres of the robot. The results of experiments presented show that the algorithm presents the same general behaviour as predicted in simulations. However, due to noise in measurements and commands, the behaviour is slightly different.