@inproceedings{Berman_Halasz_Kumar_Pratt_06,
	author = {Berman, Spring and Hal\'{a}sz, \'{A}d\'{a}m and Kumar, Vijay and Pratt, Stephen},
	title = {Algorithms for the Analysis and Synthesis of a Bio-inspired Swarm Robotic System},
	booktitle = {Proceedings of the 2Nd International Conference on Swarm Robotics},
	series = {SAB'06},
	year = {2007},
	isbn = {978-3-540-71540-5},
	location = {Rome, Italy},
	pages = {56--70},
	numpages = {15},
	url = {http://dl.acm.org/citation.cfm?id=1763837.1763842},
	acmid = {1763842},
	publisher = {Springer-Verlag},
	address = {Berlin, Heidelberg},
	keywords = {abstractions of swarms, insect house hunting, multiscale modeling, reachability analysis, stochastic simulation, synthesis},
	abstract = {We present a methodology for characterizing, analyzing, and synthesizing swarm 
        behaviors using both a macroscopic continuous model that represents a swarm as a continuum 
        and a macroscopic discrete model that enumerates individual agents. Our methodology is applied 
        to a dynamical model of ant house hunting, a decentralized process in which a colony attempts 
        to emigrate to the best site among several alternatives. The model is hybrid because the colony 
        switches between different sets of behaviors, or modes, during this process. Using the model in [1], 
        we investigate the relation of site population growth to initial system state with an algorithm 
        called Multi-Affine Reachability analysis using Conical Overapproximations (Marco) [2]. We then 
        derive a microscopic hybrid dynamical model of an agent that respects the specifications of the 
        global behavior at the continuous level. Our multi-level simulations demonstrate that we have 
        produced a rigorously correct microscopic model from the macroscopic descriptions.},
}