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Modeling Robot Swarms Using Integrals of Birth-Death Processes

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Published:06 June 2016Publication History
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Abstract

This article investigates the use of the integral of linear birth-death processes in the context of analyzing swarm robotics systems. We show that when a robot swarm can be modeled as a linear birth-death process, well-established results can be used to compute the expected value and/or the distribution of important swarm performance measures, such as the swarm activity time or the swarm energy consumption. We also show how the linear birth-death model can be used to estimate the long-term value of such performance measures and design robot controllers that satisfy constraints on these measures.

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          • Published in

            cover image ACM Transactions on Autonomous and Adaptive Systems
            ACM Transactions on Autonomous and Adaptive Systems  Volume 11, Issue 2
            Special Section on Best Papers from SASO 2014 and Regular Articles
            July 2016
            267 pages
            ISSN:1556-4665
            EISSN:1556-4703
            DOI:10.1145/2952298
            Issue’s Table of Contents

            Copyright © 2016 ACM

            Publisher

            Association for Computing Machinery

            New York, NY, United States

            Publication History

            • Published: 6 June 2016
            • Accepted: 1 December 2015
            • Revised: 1 October 2015
            • Received: 1 April 2014
            Published in taas Volume 11, Issue 2

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