Most of the projects presented in this website are related with scientific research. Questions about parameters regarding theory and applications in these projects, as well as the ways to answer them, have been embodied in publications. Research methods applied to technology are part of my skills.
The publications that I have co-authored are:
2024
Lucas, Pedro; Fasciani, Stefano; Szorkovszky, Alexander; Glette, Kyrre
Interactive Sonification of 3D Swarmalators Proceedings Article
In: Proceedings of the International Conference on New Interfaces for Musical Expression, Zenodo, 2024.
Abstract | Links | BibTeX | Tags:
@inproceedings{lucas_interactive_2024,
title = {Interactive Sonification of 3D Swarmalators},
author = {Pedro Lucas and Stefano Fasciani and Alexander Szorkovszky and Kyrre Glette},
doi = {10.5281/ZENODO.13904846},
year = {2024},
date = {2024-10-01},
urldate = {2024-11-25},
booktitle = {Proceedings of the International Conference on New Interfaces for Musical Expression},
publisher = {Zenodo},
abstract = {This paper explores the sound and music possibilities obtained from the sonification of a swarm of coupled oscillators moving in a virtual space called "Swarmalators". We describe the design and implementation of a Human-Swarm Interactive Music System based on the 3D version of the Swarmalator model, which is used for signal analysis of the overall sound output in terms of scalability; that is, the effect of varying the number of agents in a swarm system. We also study the behaviour of autonomous swarmalators in the presence of one user-controlled agent, which we call the interactive swarmalator. We observed that sound frequencies barely deviate from their initial values when there are few agents, but they diverge significantly in a highly dense swarm. Additionally, with the inclusion of the interactive swarmalator, the group's behaviour tends to adjust towards it. We use these results to explore the potential of swarmalators in music performance under various scenarios. Finally, we discuss opportunities and challenges to use the Swarmalator model for sound and music systems.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper explores the sound and music possibilities obtained from the sonification of a swarm of coupled oscillators moving in a virtual space called "Swarmalators". We describe the design and implementation of a Human-Swarm Interactive Music System based on the 3D version of the Swarmalator model, which is used for signal analysis of the overall sound output in terms of scalability; that is, the effect of varying the number of agents in a swarm system. We also study the behaviour of autonomous swarmalators in the presence of one user-controlled agent, which we call the interactive swarmalator. We observed that sound frequencies barely deviate from their initial values when there are few agents, but they diverge significantly in a highly dense swarm. Additionally, with the inclusion of the interactive swarmalator, the group's behaviour tends to adjust towards it. We use these results to explore the potential of swarmalators in music performance under various scenarios. Finally, we discuss opportunities and challenges to use the Swarmalator model for sound and music systems.
Lucas, Pedro; Szorkovszky, Alexander; Fasciani, Stefano; Glette, Kyrre
Self-Assembly and Synchronization: Crafting Music with Multi-Agent Embodied Oscillators Proceedings Article
In: 2024 IEEE International Conference on Autonomic Computing and Self-Organizing Systems (ACSOS), pp. 145–150, IEEE, Aarhus, Denmark, 2024, ISBN: 979-8-3503-6387-6.
@inproceedings{lucas_self-assembly_2024,
title = {Self-Assembly and Synchronization: Crafting Music with Multi-Agent Embodied Oscillators},
author = {Pedro Lucas and Alexander Szorkovszky and Stefano Fasciani and Kyrre Glette},
doi = {10.1109/ACSOS61780.2024.00034},
isbn = {979-8-3503-6387-6},
year = {2024},
date = {2024-09-01},
urldate = {2025-03-01},
booktitle = {2024 IEEE International Conference on Autonomic Computing and Self-Organizing Systems (ACSOS)},
pages = {145–150},
publisher = {IEEE},
address = {Aarhus, Denmark},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Lucas, Pedro; Fasciani, Stefano; Glette, Kyrre
Csound vs. ChucK: Sound Generation for XR Multi-Agent Audio Systems in the Meta Quest 3 Using the Unity Game Engine Proceedings Article
In: Proceedings of the 21st Sound and Music Computing Conference, Zenodo, Porto, Portugal, 2024.
Abstract | Links | BibTeX | Tags:
@inproceedings{lucas_csound_2024,
title = {Csound vs. ChucK: Sound Generation for XR Multi-Agent Audio Systems in the Meta Quest 3 Using the Unity Game Engine},
author = {Pedro Lucas and Stefano Fasciani and Kyrre Glette},
doi = {10.5281/ZENODO.14339047},
year = {2024},
date = {2024-07-01},
urldate = {2025-03-13},
booktitle = {Proceedings of the 21st Sound and Music Computing Conference},
publisher = {Zenodo},
address = {Porto, Portugal},
abstract = {Extended Reality (XR) technologies, particularly headsets like the Meta Quest 3, are revolutionizing the field of immersive sound and music applications by offering new depths of user experience. As such, the Unity game engine emerges as a preferred platform for building such auditory environments. As part of its capabilities, Unity allows the programming of sound generation through a low-level digital signal processing API, which requires specialized knowledge and significant effort for development. However, wrappers that integrate Unity with programming languages for sound synthesis can facilitate the implementation of this task. In this work, we focus on applications for the Meta Quest 3 involving multiple spatialized audio sources; such applications can be framed as XR multi-agent audio systems. We consider two wrappers, CsoundUnity and Chunity, featuring Csound and ChucK programming languages. We test and analyze these wrappers in a minimal XR application, varying the number of audio sources to measure the performance of both tools in two device environments: the development machine and the Meta Quest 3. We found that CsoundUnity performs better in the headset, but Chunity performs better in the development machine. We discuss the advantages, limitations, and computational issues found on both wrappers, as well as the criteria for choosing them to develop XR multi-agent audio applications in Unity.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Extended Reality (XR) technologies, particularly headsets like the Meta Quest 3, are revolutionizing the field of immersive sound and music applications by offering new depths of user experience. As such, the Unity game engine emerges as a preferred platform for building such auditory environments. As part of its capabilities, Unity allows the programming of sound generation through a low-level digital signal processing API, which requires specialized knowledge and significant effort for development. However, wrappers that integrate Unity with programming languages for sound synthesis can facilitate the implementation of this task. In this work, we focus on applications for the Meta Quest 3 involving multiple spatialized audio sources; such applications can be framed as XR multi-agent audio systems. We consider two wrappers, CsoundUnity and Chunity, featuring Csound and ChucK programming languages. We test and analyze these wrappers in a minimal XR application, varying the number of audio sources to measure the performance of both tools in two device environments: the development machine and the Meta Quest 3. We found that CsoundUnity performs better in the headset, but Chunity performs better in the development machine. We discuss the advantages, limitations, and computational issues found on both wrappers, as well as the criteria for choosing them to develop XR multi-agent audio applications in Unity.
2023
Lucas, Pedro; Glette, Kyrre
Human-Swarm Interactive Music Systems: Design, Algorithms, Technologies, and Evaluation Journal Article
In: Proceedings of the 16th International Symposium on Computer Music Multidisciplinary Research, 2023, (Publisher: Zenodo).
Abstract | Links | BibTeX | Tags:
@article{lucas_human-swarm_2023,
title = {Human-Swarm Interactive Music Systems: Design, Algorithms, Technologies, and Evaluation},
author = {Pedro Lucas and Kyrre Glette},
doi = {10.5281/ZENODO.10113080},
year = {2023},
date = {2023-11-01},
urldate = {2024-01-31},
journal = {Proceedings of the 16th International Symposium on Computer Music Multidisciplinary Research},
abstract = {This paper presents considerations for developing Human-Swarm Interactive Music Systems (IMS), based on previous work in the field. We discuss design principles, algorithms, technologies, and evaluation methods for creating user-centered Human-Swarm IMSs using architectural apÂproaches, swarm strategies, and levels of embodiment in implementation. Our contribution aims to establish a framework for future applications and research studies on swarm-based music platforms.},
note = {Publisher: Zenodo},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper presents considerations for developing Human-Swarm Interactive Music Systems (IMS), based on previous work in the field. We discuss design principles, algorithms, technologies, and evaluation methods for creating user-centered Human-Swarm IMSs using architectural apÂproaches, swarm strategies, and levels of embodiment in implementation. Our contribution aims to establish a framework for future applications and research studies on swarm-based music platforms.
Lucas, Pedro; Fasciani, Stefano
A Human-Agents Music Performance System in an Extended Reality Environment Proceedings Article
In: Ortiz, Miguel; Marquez-Borbon, Adnan (Ed.): Proceedings of the International Conference on New Interfaces for Musical Expression, pp. 10–20, 2023, (Place: Mexico City, Mexico).
Abstract | Links | BibTeX | Tags:
@inproceedings{lucas_human-agents_2023,
title = {A Human-Agents Music Performance System in an Extended Reality Environment},
author = {Pedro Lucas and Stefano Fasciani},
editor = {Miguel Ortiz and Adnan Marquez-Borbon},
doi = {https://doi.org/10.5281/zenodo.11189090},
year = {2023},
date = {2023-05-01},
booktitle = {Proceedings of the International Conference on New Interfaces for Musical Expression},
pages = {10–20},
abstract = {This paper proposes a human-machine interactive music system for live performances based on autonomous agents, implemented through immersive extended reality. The interaction between humans and agents is grounded in concepts related to Swarm Intelligence and Multi-Agent systems, which are reflected in a technological platform that involves a 3D physical-virtual solution. This approach requires visual, auditory, haptic, and proprioceptive modalities, making it necessary to integrate technologies capable of providing such a multimodal environment. The prototype of the proposed system is implemented by combining Motion Capture, Spatial Audio, and Mixed Reality technologies. The system is evaluated in terms of objective measurements and tested with users through music improvisation sessions. The results demonstrate that the system is used as intended with respect to multimodal interaction for musical agents. Furthermore, the results validate the novel design and integration of the required technologies presented in this paper.},
note = {Place: Mexico City, Mexico},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper proposes a human-machine interactive music system for live performances based on autonomous agents, implemented through immersive extended reality. The interaction between humans and agents is grounded in concepts related to Swarm Intelligence and Multi-Agent systems, which are reflected in a technological platform that involves a 3D physical-virtual solution. This approach requires visual, auditory, haptic, and proprioceptive modalities, making it necessary to integrate technologies capable of providing such a multimodal environment. The prototype of the proposed system is implemented by combining Motion Capture, Spatial Audio, and Mixed Reality technologies. The system is evaluated in terms of objective measurements and tested with users through music improvisation sessions. The results demonstrate that the system is used as intended with respect to multimodal interaction for musical agents. Furthermore, the results validate the novel design and integration of the required technologies presented in this paper.
2022
Lucas, Pedro
A Human-Machine Music Performance System based on Autonomous Agents Masters Thesis
University of Oslo, 2022, (arXiv: http://urn.nb.no/URN:NBN:no-98652).
@mastersthesis{lucas2022,
title = {A Human-Machine Music Performance System based on Autonomous Agents},
author = {Pedro Lucas},
doi = {http://urn.nb.no/URN:NBN:no-98652},
year = {2022},
date = {2022-01-01},
urldate = {2022-01-01},
school = {University of Oslo},
note = {arXiv: http://urn.nb.no/URN:NBN:no-98652},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
2019
Lucas, Pedro Pablo
AuSynthAR: A simple low-cost modular synthesizer based on Augmented Reality Proceedings Article
In: Queiroz, Marcelo; Sedó, Anna Xambó (Ed.): Proceedings of the International Conference on New Interfaces for Musical Expression, pp. 405–406, UFRGS, Porto Alegre, Brazil, 2019, (ISSN: 2220-4806).
Abstract | Links | BibTeX | Tags:
@inproceedings{lucas_ausynthar_2019,
title = {AuSynthAR: A simple low-cost modular synthesizer based on Augmented Reality},
author = {Pedro Pablo Lucas},
editor = {Marcelo Queiroz and Anna Xambó Sedó},
doi = {10.5281/zenodo.3673011},
year = {2019},
date = {2019-06-01},
booktitle = {Proceedings of the International Conference on New Interfaces for Musical Expression},
pages = {405–406},
publisher = {UFRGS},
address = {Porto Alegre, Brazil},
abstract = {AuSynthAR is a digital instrument based on Augmented Reality (AR), which allows sound synthesis modules to create simple sound networks. It only requires a mobile device, a set of tokens, a sound output device and, optionally, a MIDI controller, which makes it an affordable instrument. An application running on the device generates the sounds and the graphical augmentations over the tokens.},
note = {ISSN: 2220-4806},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
AuSynthAR is a digital instrument based on Augmented Reality (AR), which allows sound synthesis modules to create simple sound networks. It only requires a mobile device, a set of tokens, a sound output device and, optionally, a MIDI controller, which makes it an affordable instrument. An application running on the device generates the sounds and the graphical augmentations over the tokens.
Lucas, Pedro Pablo
A MIDI Controller Mapper for the Built-in Audio Mixer in the Unity Game Engine Journal Article
In: 2019, (Publisher: Zenodo).
Abstract | Links | BibTeX | Tags:
@article{lucas_midi_2019,
title = {A MIDI Controller Mapper for the Built-in Audio Mixer in the Unity Game Engine},
author = {Pedro Pablo Lucas},
doi = {10.5281/ZENODO.3673009},
year = {2019},
date = {2019-06-01},
urldate = {2025-08-05},
abstract = {Unity is one of the most used engines in the game industry and several extensions have been implemented to increase its features in order to create multimedia products in a more effective and efficient way. From the point of view of audio development, Unity has included an Audio Mixer from version 5 which facilitates the organization of sounds, effects, and the mixing process in general; however, this module can be manipulated only through its graphical interface. This work describes the design and implementation of an extension tool to map parameters from the Audio Mixer to MIDI external devices, like controllers with sliders and knobs, such way the developer can easily mix a game with the feeling of a physical interface.},
note = {Publisher: Zenodo},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Unity is one of the most used engines in the game industry and several extensions have been implemented to increase its features in order to create multimedia products in a more effective and efficient way. From the point of view of audio development, Unity has included an Audio Mixer from version 5 which facilitates the organization of sounds, effects, and the mixing process in general; however, this module can be manipulated only through its graphical interface. This work describes the design and implementation of an extension tool to map parameters from the Audio Mixer to MIDI external devices, like controllers with sliders and knobs, such way the developer can easily mix a game with the feeling of a physical interface.
Lucas, Pedro; Pelaez, Enrique
A Granular Synthesis Strategy Based on Musical Harmony Theory Through a Fuzzy Logic Approach Journal Article
In: 2019 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2019, 2019, (ISBN: 9781728156668).
Abstract | Links | BibTeX | Tags:
@article{lucas_granular_2019,
title = {A Granular Synthesis Strategy Based on Musical Harmony Theory Through a Fuzzy Logic Approach},
author = {Pedro Lucas and Enrique Pelaez},
doi = {10.1109/LA-CCI47412.2019.9036760},
year = {2019},
date = {2019-01-01},
journal = {2019 IEEE Latin American Conference on Computational Intelligence, LA-CCI 2019},
abstract = {This paper proposes a granular synthesis technique constrained to musical harmony theory that uses fuzzy logic to playback small portions of sound called grains. The algorithm distributes the grains in a two-dimensional space according to a musical structure shaped by a chord progression. Grains are playback in a timed sequence adjusted to a rhythmical pattern sorted by a fuzzy logic method that considers the energy and frequency of each grain across a defined harmonic environment. Tests regarding the distribution of grains and the generated sounds are performed to compare the effects of different keynotes in the musical structure, as well as considering the sound sources from where the grains were originally taken.},
note = {ISBN: 9781728156668},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper proposes a granular synthesis technique constrained to musical harmony theory that uses fuzzy logic to playback small portions of sound called grains. The algorithm distributes the grains in a two-dimensional space according to a musical structure shaped by a chord progression. Grains are playback in a timed sequence adjusted to a rhythmical pattern sorted by a fuzzy logic method that considers the energy and frequency of each grain across a defined harmonic environment. Tests regarding the distribution of grains and the generated sounds are performed to compare the effects of different keynotes in the musical structure, as well as considering the sound sources from where the grains were originally taken.
2018
Loayza, Kleber; Lucas, Pedro; Pelaez, Enrique
A centralized control of movements using a collision avoidance algorithm for a swarm of autonomous agents Journal Article
In: 2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017, vol. 2017-Janua, pp. 1–6, 2018, (ISBN: 9781538638941).
Abstract | Links | BibTeX | Tags:
@article{loayza_centralized_2018,
title = {A centralized control of movements using a collision avoidance algorithm for a swarm of autonomous agents},
author = {Kleber Loayza and Pedro Lucas and Enrique Pelaez},
doi = {10.1109/ETCM.2017.8247496},
year = {2018},
date = {2018-01-01},
journal = {2017 IEEE 2nd Ecuador Technical Chapters Meeting, ETCM 2017},
volume = {2017-Janua},
pages = {1–6},
abstract = {This work proposes a method for moving a swarm of autonomous Unmanned Aerial Vehicles to accomplish an specific task. The approach uses a centralized strategy which considers a trajectory calculation and collision avoidance. The solution was implemented in a simulated scenario as well as in a real controlled environment using a swarm of nano drones, together with a setup supported by a motion capture system. The solution was tested while planting virtual seeds in a field composed by a grid of points that represent the places to be sown. Experiments were performed for measuring completion times and attempts to prevent impacts in order to test the effectiveness, scalability and stability of the solution as well as the robustness of the collision avoidance algorithm while increasing the number of agents to perform the task.},
note = {ISBN: 9781538638941},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This work proposes a method for moving a swarm of autonomous Unmanned Aerial Vehicles to accomplish an specific task. The approach uses a centralized strategy which considers a trajectory calculation and collision avoidance. The solution was implemented in a simulated scenario as well as in a real controlled environment using a swarm of nano drones, together with a setup supported by a motion capture system. The solution was tested while planting virtual seeds in a field composed by a grid of points that represent the places to be sown. Experiments were performed for measuring completion times and attempts to prevent impacts in order to test the effectiveness, scalability and stability of the solution as well as the robustness of the collision avoidance algorithm while increasing the number of agents to perform the task.
Lucas, Pedro; Loayza, Kleber; Peláez, Enrique
A distributed control of movements and fuzzy logic-based task allocation for a swarm of autonomous agents Journal Article
In: IEEE International Conference on Fuzzy Systems, vol. 2018-July, 2018, ISSN: 10987584, (ISBN: 9781509060207).
Abstract | Links | BibTeX | Tags:
@article{lucas_distributed_2018,
title = {A distributed control of movements and fuzzy logic-based task allocation for a swarm of autonomous agents},
author = {Pedro Lucas and Kleber Loayza and Enrique Peláez},
doi = {10.1109/FUZZ-IEEE.2018.8491460},
issn = {10987584},
year = {2018},
date = {2018-01-01},
journal = {IEEE International Conference on Fuzzy Systems},
volume = {2018-July},
abstract = {This paper proposes a decentralized method for controlling a swarm of autonomous agents represented as Unmanned Aerial Vehicles (UAVs) to accomplish a set of tasks cooperatively. The task commissioning is carried out by a Fuzzy Logic-based task allocation strategy, and the movement behavior is based on the internal state of the agent as well as the external data from its neighbors through local communications. The solution was modified from a centralized strategy developed in a previous work in order to be enhanced, so the proposed distributed strategy was tested considering the same experiments, configurations and conditions applied to the centralized approach in a simulated environment. To test the strategy, the planned activity to be performed was planting seeds, in a field composed by a grid of points that represents the places to be sown. Completion times and collision avoidance attempts were measured to test the effectiveness, as well as to perform a comparison between the distributed and centralized methods. Important improvements were found considering the size of agents in a swarm.},
note = {ISBN: 9781509060207},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper proposes a decentralized method for controlling a swarm of autonomous agents represented as Unmanned Aerial Vehicles (UAVs) to accomplish a set of tasks cooperatively. The task commissioning is carried out by a Fuzzy Logic-based task allocation strategy, and the movement behavior is based on the internal state of the agent as well as the external data from its neighbors through local communications. The solution was modified from a centralized strategy developed in a previous work in order to be enhanced, so the proposed distributed strategy was tested considering the same experiments, configurations and conditions applied to the centralized approach in a simulated environment. To test the strategy, the planned activity to be performed was planting seeds, in a field composed by a grid of points that represents the places to be sown. Completion times and collision avoidance attempts were measured to test the effectiveness, as well as to perform a comparison between the distributed and centralized methods. Important improvements were found considering the size of agents in a swarm.
2017
Lucas, Pedro; Astudillo, EfraÃn; Peláez, Enrique
Human–Machine Musical Composition in Real-Time Based on Emotions Through a Fuzzy Logic Approach Book Section
In: Nedjah, Nadia; Lopes, Heitor Silvério; Mourelle, Luiza De Macedo (Ed.): Designing with Computational Intelligence, vol. 664, pp. 143–159, Springer International Publishing, Cham, 2017, ISBN: 978-3-319-44734-6 978-3-319-44735-3, (Series Title: Studies in Computational Intelligence).
@incollection{nedjah_humanmachine_2017,
title = {Human–Machine Musical Composition in Real-Time Based on Emotions Through a Fuzzy Logic Approach},
author = {Pedro Lucas and EfraÃn Astudillo and Enrique Peláez},
editor = {Nadia Nedjah and Heitor Silvério Lopes and Luiza De Macedo Mourelle},
doi = {10.1007/978-3-319-44735-3_8},
isbn = {978-3-319-44734-6 978-3-319-44735-3},
year = {2017},
date = {2017-01-01},
urldate = {2025-08-05},
booktitle = {Designing with Computational Intelligence},
volume = {664},
pages = {143–159},
publisher = {Springer International Publishing},
address = {Cham},
note = {Series Title: Studies in Computational Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
2015
Lucas, Pedro; Astudillo, Efrain; Pelaez, Enrique
Human-machine musical composition in real-time based on emotions through a fuzzy logic approach Proceedings Article
In: 2015 Latin America Congress on Computational Intelligence (LA-CCI), pp. 1–6, IEEE, Curitiba, 2015, ISBN: 978-1-4673-8418-6.
@inproceedings{lucas_human-machine_2015,
title = {Human-machine musical composition in real-time based on emotions through a fuzzy logic approach},
author = {Pedro Lucas and Efrain Astudillo and Enrique Pelaez},
doi = {10.1109/LA-CCI.2015.7435963},
isbn = {978-1-4673-8418-6},
year = {2015},
date = {2015-10-01},
urldate = {2025-08-05},
booktitle = {2015 Latin America Congress on Computational Intelligence (LA-CCI)},
pages = {1–6},
publisher = {IEEE},
address = {Curitiba},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}