@INPROCEEDINGS{Berman_Halasz_Kumar_Pratt_07,
	author={S. Berman and A. Halasz and V. Kumar and S. Pratt},
	booktitle={Robotics and Automation, 2007 IEEE International Conference on},
	title={Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations},
	year={2007},
	pages={2318-2323},
	abstract={We present a methodology for characterizing and synthesizing swarm behaviors using both a 
        macroscopic model that represents a swarm as a continuum and a microscopic model that represents 
        individual robots. We develop a systematic approach for synthesizing behaviors at the macroscopic 
        level that can be realized on individual robots at the microscopic level. Our methodology is inspired 
        by a dynamical model of ant house hunting [1], 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. At the macroscopic level, we are 
        able to synthesize controllers that result in the deployment of a robotic swarm in a predefined ratio 
        between distinct sites. We then derive hybrid controllers for individual robots using only local 
        interactions and no communication that respect the specifications of the global continuous behavior. 
        Our simulations demonstrate that our synthesis procedure yields a correct microscopic model from 
        the macroscopic description with guarantees on performance at both levels},
	keywords={closed loop systems;multi-robot systems;optimisation;ant house hunting model;bioinspired group behaviors;decentralized process;macroscopic model;microscopic model;robot destination;robot swarm deployment;Communication system control;Differential equations;Microscopy;Noise robustness;Recruitment;Robot control;Robot sensing systems;Robotics and automation;Solid modeling;State-space methods},
	doi={10.1109/ROBOT.2007.363665},
	ISSN={1050-4729},
	month={April},
	
}