{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T16:14:44Z","timestamp":1777133684502,"version":"3.51.4"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2013,12,2]],"date-time":"2013-12-02T00:00:00Z","timestamp":1385942400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2014,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>We present the synthesis and analysis of distributed ensemble control policies to enable a team of robots to control their distribution across a collection of tasks. We assume that individual robot controllers are modeled as a sequential composition of individual task controllers. A macroscopic description of the team dynamics is then used to synthesize ensemble feedback control strategies that maintain the desired distribution of robots across the tasks. We present a distributed implementation of the ensemble feedback strategy that can be implemented with minimal communication requirements. Different from existing strategies, the approach results in individual robot control policies that maintain the desired mean and the variance of the robot populations at each task. We present the stability properties of the ensemble feedback strategy, verify the feasibility of the distributed ensemble controller through high-fidelity simulations, and examine the robustness of the strategy to sensing and\/or actuation failures. Specifically, we consider the case when robots are subject to estimation and navigation errors resulting from lossy inter-agent wireless communication links and localization errors.<\/jats:p>","DOI":"10.1017\/s0263574713000994","type":"journal-article","created":{"date-parts":[[2013,12,2]],"date-time":"2013-12-02T09:48:43Z","timestamp":1385977723000},"page":"177-192","source":"Crossref","is-referenced-by-count":13,"title":["Synthesis and analysis of distributed ensemble control strategies for allocation to multiple tasks"],"prefix":"10.1017","volume":"32","author":[{"given":"T. William","family":"Mather","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. Ani","family":"Hsieh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,12,2]]},"reference":[{"key":"S0263574713000994_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063426"},{"key":"S0263574713000994_ref13","doi-asserted-by":"publisher","DOI":"10.1162\/artl.1994.1.4.413"},{"key":"S0263574713000994_ref22","first-page":"129","volume-title":"Robotics: Science and Systems V","author":"Napp","year":"2009"},{"key":"S0263574713000994_ref21","first-page":"964","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2006","author":"Michael","year":"2006"},{"key":"S0263574713000994_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9991(76)90041-3"},{"key":"S0263574713000994_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2006.876939"},{"key":"S0263574713000994_ref3","first-page":"1327","volume-title":"The Proceeding of IEEE International Conference on Robotics and Automation (ICRA'02)","author":"Cortes","year":"2002"},{"key":"S0263574713000994_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.812781"},{"key":"S0263574713000994_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2008.4739482"},{"key":"S0263574713000994_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045564"},{"key":"S0263574713000994_ref20","volume-title":"Proceedins of the IEEE International Conferences on Robotics and Automation (ICRA'12)","author":"Mather","year":"2012"},{"key":"S0263574713000994_ref10","volume-title":"Proceedings of the 16th UK Planning and Scheduling SIG Workshop (PlanSIG)","author":"Golfarelli","year":"1997"},{"key":"S0263574713000994_ref9","doi-asserted-by":"publisher","DOI":"10.1021\/j100540a008"},{"key":"S0263574713000994_ref12","doi-asserted-by":"crossref","unstructured":"J. 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Hespanha , \u201cMoment Closure for Biochemical Networks,\u201d Proceedings of the 3rd International Symposium on Control, Communications and Signal Processing (Mar. 2008).","DOI":"10.1109\/ISCCSP.2008.4537208"},{"key":"S0263574713000994_ref19","volume-title":"Proceedings of the 2011 Robotics: Science and Systems","author":"Mather","year":"2011"},{"key":"S0263574713000994_ref4","first-page":"307","volume-title":"Understanding Complex Systems: Science Meets Technology","author":"Dahl","year":"2006"},{"key":"S0263574713000994_ref11","first-page":"2320","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS'07)","author":"Halasz","year":"2007"},{"key":"S0263574713000994_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.931633"},{"key":"S0263574713000994_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.803462"},{"key":"S0263574713000994_ref23","unstructured":"USARSim. \u201cUnified system for automation and robot simulation,\u201d available at: http:\/\/usarsim.sourceforge.net (2007) (accessed Nov. 2009)."},{"key":"S0263574713000994_ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-008-0019-z"},{"key":"S0263574713000994_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042197"},{"key":"S0263574713000994_ref16","doi-asserted-by":"crossref","unstructured":"E. Klavins , \u201cProportional-Integral Control of Stochastic Gene Regulatory Networks,\u201d Proceedings of the 2010 IEEE Conference on Decision & Control (CDC'10) (2010).","DOI":"10.1109\/CDC.2010.5717525"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000994","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,22]],"date-time":"2019-04-22T23:07:43Z","timestamp":1555974463000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000994\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,12,2]]},"references-count":23,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2014,3]]}},"alternative-id":["S0263574713000994"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000994","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,12,2]]}}}