@INPROCEEDINGS{Halasz_Hsieh_Berman_Kumar_07,
	author={A. Halasz and M. Ani Hsieh and S. Berman and V. Kumar},
	booktitle={Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on},
	title={Dynamic redistribution of a swarm of robots among multiple sites},
	year={2007},
	pages={2320-2325},
	abstract={We present an approach for the dynamic assignment and reassignment of a large team 
        of homogeneous robotic agents to multiple locations with applications to search and rescue, 
        reconnaissance and exploration missions. Our work is inspired by experimental studies of ant 
        house hunting and empirical models that predict the behavior of the colony that is faced with 
        a choice between multiple candidate nests. We design stochastic control policies that enable 
        the team of agents to distribute themselves between multiple candidate sites in a specified ratio. 
        Additionally, we present an extension to our model to enable fast convergence via switching behaviors 
        based on quorum sensing. The stability and convergence properties of these control policies are analyzed 
        and simulation results are presented.},
	keywords={mobile robots;multi-robot systems;robot dynamics;stability;stochastic processes;ant house hunting;dynamic redistribution;homogeneous robotic agents;quorum sensing;robots swarm;stochastic control policies;Communication system control;Convergence;Intelligent robots;Notice of Violation;Predictive models;Reconnaissance;Robot sensing systems;Springs;Stochastic processes;USA Councils},
	doi={10.1109/IROS.2007.4399528},
	month={Oct},
	
}