@INPROCEEDINGS{Berman_Halasz_Hsieh_Kumar_08,
	author={S. Berman and A. Halasz and M. Ani Hsieh and V. Kumar},
	booktitle={Decision and Control, 2008. CDC 2008. 47th IEEE Conference on},
	title={Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites},
	year={2008},
	pages={4376-4381},
	abstract={We present a decentralized, communication-less approach to the dynamic allocation of a swarm of homogeneous 
        robots to a target distribution among multiple sites. Building on our work, we optimize stochastic control policies 
        for the robots that cause the population to quickly redistribute among the sites while adhering to a limit on inter-site 
        traffic at equilibrium. We propose a way to account for delays due to navigation between sites in our controller synthesis 
        procedure. Control policies that are designed with and without the use of delay statistics are compared for a simulation 
        in which 240 robots distribute themselves among four buildings.},
	keywords={control system synthesis;decentralised control;delays;multi-robot systems;optimisation;path planning;stochastic processes;delays;dynamic allocation;navigation-based optimization;robot swarm;stochastic strategy;Communication system control;Communication system traffic control;Delay;Navigation;Resource management;Robot sensing systems;Stochastic processes;Surveillance;Switches;Traffic control},
	doi={10.1109/CDC.2008.4739482},
	ISSN={0191-2216},
	month={Dec},
}