  RoomShift is a room-scale dynamic haptic environment for virtual reality,
using a small swarm of robots that can move furniture. RoomShift consists of
nine shape-changing robots: Roombas with mechanical scissor lifts. These robots
drive beneath a piece of furniture to lift, move and place it. By augmenting
virtual scenes with physical objects, users can sit on, lean against, place and
otherwise interact with furniture with their whole body; just as in the real
world. When the virtual scene changes or users navigate within it, the swarm of
robots dynamically reconfigures the physical environment to match the virtual
content. We describe the hardware and software implementation, applications in
virtual tours and architectural design and interaction techniques.
