Dynamic redistribution of a swarm of robots among multiple sites

We present an approach for the dynamic assignment and reassignment of a large team of homogeneous robotic agents to multiple locations with applications to search and rescue, reconnaissance and exploration missions. Our work is inspired by experimental studies of ant house hunting and empirical models that predict the behavior of the colony that is faced with a choice between multiple candidate nests. We design stochastic control policies that enable the team of agents to distribute themselves between multiple candidate sites in a specified ratio. Additionally, we present an extension to our model to enable fast convergence via switching behaviors based on quorum sensing. The stability and convergence properties of these control policies are analyzed and simulation results are presented.