%0 Conference Paper %B Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005 %D 2005 %T What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs %A Egerstedt, M. %A Balch, T. %A Dellaert, F. %A Delmotte, F. %A Zia Khan %K Animals %K Automatic generation control %K Biological information theory %K Computer vision %K Control systems %K Mobile robots %K Probability distribution %K Robot control %K target tracking %K Trajectory %X In this paper, we study the problem of going from a real-world, multi-agent system to the generation of control programs in an automatic fashion. In particular, a computer vision system is presented, capable of simultaneously tracking multiple agents, such as social insects. Moreover, the data obtained from this system is fed into a mode-reconstruction module that generates low-complexity control programs, i.e. strings of symbolic descriptions of control-interrupt pairs, consistent with the empirical data. The result is a mechanism for going from the real system to an executable implementation that can be used for controlling multiple mobile robots. %B Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005. ICRA 2005 %P 4182 - 4187 %8 2005/04// %G eng