@inproceedings{Berman_Kumar_Nagpal11,
	author = {Spring Berman and Vijay Kumar and Radhika Nagpal},
	title = {Design of control policies for spatially inhomogeneous robot swarms with application to commercial pollination},
	year = {2011},
	abstract = {We present an approach to designing scalable, decentralized control policies that produce a desired collective 
        behavior in a spatially inhomogeneous robotic swarm that emulates a system of chemically reacting molecules. Our approach 
        is based on abstracting the swarm to an advection--diffusion-reaction partial differential equation model, which we solve 
        numerically using smoothed particle hydrodynamics (SPH), a meshfree technique that is suitable for advection-dominated systems. 
        The parameters of the macroscopic model are mapped onto the deterministic and random components of individual robot motion and 
        the probabilities that determine stochastic robot task transitions. For very large swarms that are prohibitively expensive to 
        simulate, the macroscopic model, which is independent of the population size, is a useful tool for synthesizing robot control 
        policies with guarantees on performance in a top-down fashion. We illustrate our methodology by formulating a model of rabbiteye 
        blueberry pollination by a swarm of robotic bees and using the macroscopic model to select control policies for efficient pollination.},
	address = {Shanghai, China},
	month = {May~9--13,},
	booktitle = {Proceedings of the 2011 {IEEE} International Conference on Robotics and Automation},
	doi = {10.1109/ICRA.2011.5980440},
}