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"You have to budget the number of fuzzy rules you use to control a system. It turns out, you can state the optimality principle in three words: 'patch the bumps.'"
- Bart Kosko

Pacification Drones  
  Surveillance drones that emit calming notes.  

LAX expands into a lattice of control. They've thought of everything. Even the armed surveillance drones, dallying above the fine mesh overhead, emit calming birdsong... He drops his rucksack into the hand luggage chute and heads through various bombproofed cells, bulletproof tunnels and body scanners.
Technovelgy from The Breach, by M.T. Hill.
Published by Titan Books in 2020
Additional resources -

Compare to the dog pod grid from The Diamond Age (1995) by Neal Stephenson, the scuttle-bot from Hella (2020) by David Gerrold and the robot snake spy from Mariposa (2009) by Greg Bear.

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Additional resources:
  More Ideas and Technology from The Breach
  More Ideas and Technology by M.T. Hill
  Tech news articles related to The Breach
  Tech news articles related to works by M.T. Hill

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