@conference { 55, title = {Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination}, booktitle = {Intl. Conference on Robots and Systems (IROS)}, year = {2011}, url = {files/ssr/files/iros11-berman.pdf}, author = {Spring Berman and Radhika Nagpal and Adam Halasz} }