@inproceedings{Pavlic_Wilson_Kumar_Berman_13,
	title={An enzyme-inspired approach to stochastic allocation of robotic swarms around boundaries},
	author={Pavlic, Theodore P and Wilson, Sean and Kumar, Ganesh P and Berman, Spring},
	booktitle={16th International Symposium on Robotics Research (ISRR)},
	address = {Singapore},
	month = {December~16--19},
	pages={16--19},
	year={2013},
	abstract = {This work presents a novel control approach for allocating a robotic swarm
	among boundaries. It represents the first step toward developing a methodology for
	encounter-based swarm allocation that incorporates rigorously characterized spatial
	effects in the system without requiring analytical expressions for encounter rates.
	Our approach utilizes a macroscopic model of the swarm population dynamics to
	design  stochastic  robot  control  policies  that  result  in  target  allocations  of  robots
	to the boundaries of regions of different types. The control policies use only local
	information and have provable guarantees on the collective swarm behavior. We an-
	alytically derive the relationship between the stochastic control policies and target
	allocations for a scenario in which circular robots avoid collisions with each other,
	bind to boundaries of disk-shaped regions, and command bound robots to unbind.
	We validate this relationship in simulation and show that it is robust to environmen-
	tal changes, such as a change in the number or size of robots and disks.},
}