Fecha de publicación: 28/02/2019 Fuente: WIPO "swarm" A method for operating a robotic agent swarm system. The method includes: sending, via a communication network, a reconfiguration instruction from an orchestration controller to a number of robotic luminaire agents, each of the 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. The method also includes changing one or more operating conditions of one or more of the robotic luminaire agents in response to the reconfiguration instruction, including holonomically moving at least one of the robotic luminaire agents from a first position on the holonomic operational area to a second position on the holonomic operational area.