Decentralized stochastic control of robotic swarm density: Theory, simulation, and experiment. - Hanjun Li 001; Chunhan Feng; Henry Ehrhard; Yijun Shen; Bernardo Cobos; Fangbo Zhang; Karthik Elamvazhuthi; Spring Berman; Matt Haberland; Andrea L. Bertozzi (IROS, 2017)