@inproceedings{Elamvazhuthi_Berman15,
	author = {Karthick Elamvazhuthi and Spring Berman},
	title = {Optimal Control of Stochastic Coverage Strategies for Robotic Swarms},
	year = {2015},
	abstract = {This paper addresses a trajectory planning and
	task allocation problem for a swarm of resource-constrained
	robots that cannot localize or communicate with each other
	and that exhibit stochasticity in their motion and task-switching
	policies. We model the population dynamics of the robotic
	swarm as a set of advection-diffusion-reaction partial differential
	equations (PDEs), a linear parabolic PDE model that is
	bilinear in the robots’ velocity and task-switching rates. These
	parameters constitute a set of time-dependent control variables
	that can be optimized and broadcast to the robots prior to their
	deployment. The planning and allocation problem can then be
	formulated as a PDE-constrained optimization problem, which
	we solve using techniques from optimal control. Simulations
	of a commercial pollination scenario validate the ability of our
	control approach to drive a robotic swarm to achieve predefined
	spatial distributions of activity over a closed domain, which may
	contain obstacles},
	OPTaddress = {Seattle, WA},
	month = {May~26--30,},
	booktitle = {Int'l. Conf. on Robotics and Automation (ICRA)},
}