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Optimal control of stochastic coverage strategies for robotic swarms
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
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
doi:10.1109/icra.2015.7139435
dblp:conf/icra/ElamvazhuthiB15
fatcat:ybeown22t5aajk57oswinflq7m