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 analytically 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 environmental changes, such as a change in the number or size of robots and disks.

Original languageEnglish (US)
Title of host publicationRobotics Research - 16th International Symposium ISRR
EditorsPeter Corke, Masayuki Inaba
PublisherSpringer Verlag
Number of pages17
ISBN (Print)9783319288703
StatePublished - 2016
Event16th International Symposium of Robotics Research, ISRR 2013 - Singapore, Singapore
Duration: Dec 16 2013Dec 19 2013

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other16th International Symposium of Robotics Research, ISRR 2013


  • Attachment–detachment
  • Bio-inspiration
  • Chemical reaction networks
  • Distributed robotic systems
  • Stochastic robotics

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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