Swarm intelligence: from natural to artificial systems
Swarm intelligence: from natural to artificial systems
Comparative analysis of top-down and bottom-up methodologies for multi-agent system design
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
MARCO: a reachability algorithm for multi-affine systems with applications to biological systems
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
A review of probabilistic macroscopic models for swarm robotic systems
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Abstraction and control for Groups of robots
IEEE Transactions on Robotics
A control problem for affine dynamical systems on a full-dimensional polytope
Automatica (Journal of IFAC)
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
MARCO: a reachability algorithm for multi-affine systems with applications to biological systems
HSCC'07 Proceedings of the 10th international conference on Hybrid systems: computation and control
Macroscopic modeling of stochastic deployment policies with time delays for robot ensembles
International Journal of Robotics Research
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We present a methodology for characterizing, analyzing, and synthesizing swarm behaviors using both a macroscopic continuous model that represents a swarm as a continuum and a macroscopic discrete model that enumerates individual agents. Our methodology is applied to a dynamical model of ant house hunting, 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. Using the model in [1], we investigate the relation of site population growth to initial system state with an algorithm called Multi-Affine Reachability analysis using Conical Overapproximations (Marco) [2]. We then derive a microscopic hybrid dynamical model of an agent that respects the specifications of the global behavior at the continuous level. Our multi-level simulations demonstrate that we have produced a rigorously correct microscopic model from the macroscopic descriptions.