@conference {sanjay2023systems,
	title = {Systems Design Concepts Mimicking Bio-inspired Self-Assembly},
	booktitle = {9th International Conference on Research Into Design (ICoRD) 2023},
	year = {2023},
	author = {Sanjay Sarma, OV and Ardoin, Cameron and Ibrahim, Israr M and Parasuraman, Ramviyas and Pidaparti, Ramana M}
}
@conference {Alhafnawi2022,
	title = {MOSAIX: a Swarm of Robot Tiles for Social Human-Swarm Interaction},
	booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
	year = {2022},
	pages = {6882-6888},
	doi = {10.1109/ICRA46639.2022.9811723},
	author = {M Alhafnawi and E R Hunt and S Lemaignan and P O{\textquoteright}Dowd and S Hauert}
}
@mastersthesis {adams2020high,
	title = {High Performance Computation with Small Satellites and Small Satellite Swarms for 3D Reconstruction},
	year = {2020},
	school = {University of Georgia},
	type = {masters},
	author = {Adams, Caleb Ashmore}
}
@article {411,
	title = {Multi-robot online sensing strategies for the construction of communication maps},
	journal = {Autonomous Robots},
	volume = {44},
	year = {2020},
	month = {Jan-03-2020},
	pages = {299 - 319},
	abstract = {This paper tackles the problem of constructing a communication map of a known environment using multiple robots. A communication map encodes information on whether two robots can communicate when they are at two arbitrary locations and plays a fundamental role for a multi-robot system deployment to reliably and effectively achieve a variety of tasks, such as environmental monitoring and exploration. Previous work on communication map building typically considered only scenarios with a fixed base station and designed offline methods, which did not exploit data collected online by the robots. This paper proposes Gaussian Process-based online methods to efficiently build a communication map with multiple robots. Such robots form a mesh network, where there is no fixed base station. Specifically, we provide two leader-follower online sensing strategies to coordinate and guide the robots while collecting data. Furthermore, we improve the performance and computational efficiency by exploiting prior communication models that can be built from the physical map of the environment. Extensive experimental results in simulation and with a team of TurtleBot 2 platforms validate the approach.},
	keywords = {Communication maps, Multi-robot systems, Sensing strategies},
	issn = {0929-5593},
	doi = {10.1007/s10514-019-09862-3},
	url = {http://link.springer.com/10.1007/s10514-019-09862-3},
	author = {Quattrini~Li, Alberto and Penumarthi, Phani Krishna and Banfi, Jacopo and Basilico, Nicola and O{\textquoteright}Kane, Jason M. and Rekleitis, Ioannis and Nelakuditi, Srihari and Amigoni, Francesco}
}
@book {414,
	title = {Online Update of Communication Maps for Exploring Multirobot Systems Under Connectivity Constraints},
	series = {Springer Proceedings in Advanced Robotics - Distributed Autonomous Robotic Systems},
	volume = {9},
	year = {2019},
	pages = {513 - 526},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Cham},
	keywords = {Communication, Exploration, Multirobot systems},
	isbn = {978-3-030-05815-9},
	issn = {2511-1256},
	doi = {10.1007/978-3-030-05816-610.1007/978-3-030-05816-6_36},
	url = {http://link.springer.com/10.1007/978-3-030-05816-6},
	author = {Amigoni, Francesco and Banfi, Jacopo and Basilico, Nicola and Rekleitis, Ioannis and Quattrini~Li, Alberto},
	editor = {Correll, Nikolaus and Schwager, Mac and Otte, Michael}
}
@article {350,
	title = {Persistent and Robust Execution of MAPF Schedules in Warehouses},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {Jan-04-2019},
	pages = {1125 - 1131},
	doi = {10.1109/LRA.2019.2894217},
	url = {https://ieeexplore.ieee.org/document/8620328/https://ieeexplore.ieee.org/ielam/7083369/8581687/8620328-aam.pdfhttp://xplorestaging.ieee.org/ielx7/7083369/8581687/08620328.pdf?arnumber=8620328},
	author = {Honig, Wolfgang and Kiesel, Scott and Tinka, Andrew and Durham, Joseph W. and Ayanian, Nora}
}
@article {352,
	title = {Combinatorial Problems in Multirobot Battery Exchange Systems},
	journal = {IEEE Transactions on Automation Science and Engineering},
	volume = {15},
	year = {2018},
	month = {Jan-04-2018},
	pages = {852 - 862},
	issn = {1545-5955},
	doi = {10.1109/TASE.2017.2767379},
	url = {https://ieeexplore.ieee.org/document/8125731/http://xplorestaging.ieee.org/ielx7/8856/8332019/08125731.pdf?arnumber=8125731},
	author = {Kamra, Nitin and Kumar, T. K. Satish and Ayanian, Nora}
}
@proceedings {429,
	title = {Consensus Based Distributed Robust Adaptive Control for Second-Order Nonlinear Multi-agent Systems with Uncertainty},
	year = {2018},
	month = {11/2018},
	doi = {10.1109/SMC.2018.00451},
	author = {Shafiqul Islam},
	editor = {Toufik Khawl and Abdelaziz Saeed Mohamed Alzaabi and Anderson Sunda-Meya}
}
@conference {365,
	title = {Intelligent Robotic IoT System (IRIS)Testbed},
	booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Madrid},
	doi = {10.1109/IROS.2018.8593636},
	url = {https://ieeexplore.ieee.org/document/8593636/http://xplorestaging.ieee.org/ielx7/8574473/8593358/08593636.pdf?arnumber=8593636},
	author = {Tran, Jason A. and Ghosh, Pradipta and Gu, Yutong and Kim, Richard and D{\textquoteright}Souza, Daniel and Ayanian, Nora and Krishnamachari, Bhaskar}
}
@conference {418,
	title = {A Search-Based Approach to Solve Pursuit-Evasion Games with Limited Visibility in Polygonal Environments},
	booktitle = {International Conference on Autonomous \& Multiagent Systems (AAMAS)},
	year = {2018},
	url = {http://dl.acm.org/citation.cfm?id=3237383.323795},
	author = {Quattrini Li, Alberto and Raffaele Fioratto and Francesco Amigoni and Volkan Isler}
}
@article {331,
	title = {Strategies for coordinated multirobot exploration with recurrent connectivity constraints},
	journal = {Autonomous Robots},
	volume = {42},
	year = {2018},
	pages = {875{\textendash}894},
	abstract = {During several applications, such as search and rescue, robots must discover new information about the environment and, at the same time, share operational knowledge with a base station through an ad hoc network. In this paper, we design exploration strategies that allow robots to coordinate with teammates to form such a network in order to satisfy recurrent connectivity constraints{\textendash}-that is, data must be shared with the base station when making new observations at the assigned locations. Current approaches lack in flexibility due to the assumptions made about the communication model. Furthermore, they are sometimes inefficient because of the synchronous way they work: new plans are issued only once all robots have reached their goals. This paper introduces two novel asynchronous strategies that work with arbitrary communication models. In this paper, {\textquoteleft}asynchronous{\textquoteright} means that it is possible to issue new plans to subgroups of robots, when they are ready to receive them. First, we propose a single-stage strategy based on Integer Linear Programming for selecting and assigning robots to locations. Second, we design a two-stage strategy to improve computational efficiency, by separating the problem of locations{\textquoteright} selection from that of robot-location assignments. Extensive testing both in simulation and with real robots show that the proposed strategies provide good situation awareness at the base station while efficiently exploring the environment.},
	keywords = {Communication constraints, Exploration, Multirobot systems, Recurrent connectivity},
	doi = {10.1007/s10514-017-9652-y},
	author = {Jacopo Banfi and Quattrini~Li, Alberto and Ioannis Rekleitis and Francesco Amigoni and Nicola Basilico}
}
@conference {363,
	title = {Trajectory Planning for Heterogeneous Robot Teams},
	booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Madrid},
	doi = {10.1109/IROS.2018.8593876},
	url = {https://ieeexplore.ieee.org/document/8593876/http://xplorestaging.ieee.org/ielx7/8574473/8593358/08593876.pdf?arnumber=8593876},
	author = {Debord, Mark and Honig, Wolfgang and Ayanian, Nora}
}
@article {351,
	title = {Trajectory Planning for Quadrotor Swarms},
	journal = {IEEE Transactions on Robotics},
	volume = {34},
	year = {2018},
	month = {Jan-08-2018},
	pages = {856 - 869},
	issn = {1552-3098},
	doi = {10.1109/TRO.2018.2853613},
	url = {https://ieeexplore.ieee.org/document/8424034/http://xplorestaging.ieee.org/ielx7/8860/8437110/08424034.pdf?arnumber=8424034},
	author = {Honig, Wolfgang and Preiss, James A. and Kumar, T. K. Satish and Sukhatme, Gaurav S. and Ayanian, Nora}
}
@conference {357,
	title = {Crazyswarm: A large nano-quadcopter swarm},
	booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)2017 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Singapore, Singapore},
	doi = {10.1109/ICRA.2017.7989376},
	url = {http://ieeexplore.ieee.org/document/7989376/http://xplorestaging.ieee.org/ielx7/7960754/7988677/07989376.pdf?arnumber=7989376},
	author = {Preiss, James A. and Honig, Wolfgang and Sukhatme, Gaurav S. and Ayanian, Nora}
}
@conference {355,
	title = {Downwash-aware trajectory planning for large quadrotor teams},
	booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Vancouver, BC},
	doi = {10.1109/IROS.2017.8202165},
	url = {http://ieeexplore.ieee.org/document/8202165/http://xplorestaging.ieee.org/ielx7/8119304/8202121/08202165.pdf?arnumber=8202165},
	author = {Preiss, James A. and Honig, Wolfgang and Ayanian, Nora and Sukhatme, Gaurav S.}
}
@inbook {354,
	title = {Flying Multiple UAVs Using ROS},
	volume = {707},
	year = {2017},
	pages = {83 - 118},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Cham},
	isbn = {978-3-319-54926-2},
	issn = {1860-949X},
	doi = {10.1007/978-3-319-54927-910.1007/978-3-319-54927-9_3},
	author = {Honig, Wolfgang and Ayanian, Nora},
	editor = {Koubaa, Anis}
}
@conference {332,
	title = {Multirobot Exploration for Building Communication Maps with Prior from Communication Models},
	booktitle = {Proceedings of the International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
	year = {2017},
	author = {Phani Krishna Penumarthi and Quattrini~Li, Alberto and Jacopo Banfi and Nicola Basilico and Francesco Amigoni and Jason O{\textquoteright}Kane and Ioannis Rekleitis and Srihari Nelakuditi}
}
@conference {333,
	title = {Multirobot Online Construction of Communication Maps},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	abstract = {The importance of communication in many multirobot information-gathering tasks requires the availability of reliable communication maps. These provide estimates of the radio signal strength and can be used to predict the presence of communication links between different locations of the environment. In the problem we consider, a team of mobile robots has to build such maps autonomously in a robot-to-robot communication setting. The solution we propose models the signal{\textquoteright}s distribution with a Gaussian Process and exploits different online sensing strategies to coordinate and guide the robots during their data acquisition. Our methods show interesting operative insights both in simulations and on real TurtleBot 2 platforms.},
	doi = {10.1109/ICRA.2017.7989300},
	author = {Jacopo Banfi and Quattrini~Li, Alberto and Nicola Basilico and Ioannis Rekleitis and Francesco Amigoni}
}
@article {370,
	title = {Multirobot Systems [TC Spotlight]},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {24},
	year = {2017},
	month = {Jan-06-2017},
	pages = {12 - 16},
	issn = {1070-9932},
	doi = {10.1109/MRA.2017.2691138},
	url = {http://ieeexplore.ieee.org/document/7947267/http://xplorestaging.ieee.org/ielx7/100/7947233/07947267.pdf?arnumber=7947267},
	author = {Ayanian, Nora and Fitch, Robert and Franchi, Antonio and Sabattini, Lorenzo}
}
@article {353,
	title = {Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems},
	journal = {IEEE Intelligent Systems},
	volume = {32},
	year = {2017},
	month = {Jan-11-2017},
	pages = {6 - 12},
	issn = {1541-1672},
	doi = {10.1109/MIS.2017.4531217},
	url = {http://ieeexplore.ieee.org/document/8268002/http://xplorestaging.ieee.org/ielx7/9670/8267591/08268002.pdf?arnumber=8268002},
	author = {Ma, Hang and Honig, Wolfgang and Cohen, Liron and Uras, Tansel and Xu, Hong and Kumar, T.K. Satish and Ayanian, Nora and Koenig, Sven}
}
@conference {356,
	title = {Summary: Multi-Agent Path Finding with Kinematic Constraints},
	booktitle = {Twenty-Sixth International Joint Conference on Artificial IntelligenceProceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence},
	year = {2017},
	publisher = {International Joint Conferences on Artificial Intelligence Organization},
	organization = {International Joint Conferences on Artificial Intelligence Organization},
	address = {Melbourne, AustraliaCalifornia},
	doi = {10.24963/ijcai.201710.24963/ijcai.2017/684},
	url = {https://www.ijcai.org/proceedings/2017https://www.ijcai.org/proceedings/2017/684},
	author = {Honig, Wolfgang and Kumar, T. K. Satish and Cohen, Liron and Ma, Hang and Xu, Hong and Ayanian, Nora and Koenig, Sven}
}
@conference {171,
	title = {Asynchronous Multirobot Exploration under Recurrent Connectivity Constraints},
	booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2016},
	address = {Stockholm, Sweden},
	abstract = {In multirobot exploration under centralized control, communication plays an important role in constraining the team exploration strategy. Recurrent connectivity is a way to define communication constraints for which robots must
connect to a base station only when making new observations.
This paper studies effective multirobot exploration strategies under recurrent connectivity by considering a centralized and
asynchronous planning framework. We formalize the problem of selecting the optimal set of locations robots should reach, provide an exact formulation to solve it, and devise an approximation algorithm to obtain efficient solutions with a bounded loss of optimality. Experiments in simulation and on real robots
evaluate our approach in a number of settings.},
	author = {Jacopo Banfi and Alberto Quattrini~Li and Nicola Basilico and Ioannis Rekleitis and Francesco Amigoni}
}
@conference {335,
	title = {Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots},
	booktitle = {International Symposium on Experimental Robotics (ISER)},
	year = {2016},
	abstract = {This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.},
	doi = {10.1007/978-3-319-50115-4_62},
	author = {Quattrini~Li, Alberto and Ioannis Rekleitis and Sandeep Manjanna and Nikhil Kakodkar and Johanna Hansen and Gregory Dudek and Leonardo Bobadilla and Jacob Anderson and Ryan N. Smith}
}
@conference {358,
	title = {Formation change for robot groups in occluded environments},
	booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2016},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Daejeon, South Korea},
	doi = {10.1109/IROS.2016.7759710},
	url = {http://ieeexplore.ieee.org/document/7759710/http://xplorestaging.ieee.org/ielx7/7743711/7758082/07759710.pdf?arnumber=7759710},
	author = {Honig, Wolfgang and Kumar, T. K. Satish and Ma, Hang and Koenig, Sven and Ayanian, Nora}
}
@conference {188,
	title = {Multi-Agent Path Finding with Kinematic Constraints},
	booktitle = {International Conference on Automated Planning and Scheduling},
	year = {2016},
	month = {Jun},
	address = {London, UK},
	keywords = {Multi-Agent Path Finding with Kinematic Contraints},
	author = {Wolfgang H{\"o}nig and T. K. Satish Kumar and Liron Cohen and Hang Ma and Hong Xu and Nora Ayanian and Sven Koenig}
}
@article {aha2016opense,
	title = {The openSE Framework: an open, lean and participative approach to systems engineering},
	year = {2016},
	publisher = {CERN},
	author = {Aha, Liisa and Alami, Rachid and Amjad, Faraz and Aref, Mohammad M and Baudin, Mathieu and Bonnal, Pierre and Braesch, Christian and Del Sol, Enrique and Devine, James and Fabry, Thomas and others}
}
@conference {384,
	title = {Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios},
	booktitle = {IJCAI-16 Workshop on Multi-Agent Path Finding (WOMPF)},
	year = {2016},
	keywords = {workshop},
	author = {Hang Ma and Sven Koenig and Nora Ayanian and Liron Cohen and Wolfgang H{\"o}nig and T. K. Satish Kumar and Tansel Uras and Hong Xu and C. Tovey and G. Sharon}
}
@conference {366,
	title = {SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks},
	booktitle = {2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI)2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI)},
	year = {2016},
	publisher = {IEEE},
	organization = {IEEE},
	address = {San Jose, CA, USA},
	doi = {10.1109/ICTAI.2016.0087},
	url = {http://ieeexplore.ieee.org/document/7814647/http://xplorestaging.ieee.org/ielx7/7811909/7814561/07814647.pdf?arnumber=7814647},
	author = {Xu, Hong and Kumar, T.K. Satish and Johnke, Dylan and Ayanian, Nora and Koenig, Sven}
}
@article {189,
	title = {Cooperative Control for Target Tracking with Onboard Sensing},
	journal = {International Journal of Robotics Research},
	volume = {34},
	year = {2015},
	month = {November},
	pages = {1660-1677},
	author = {Karol Hausman and Joerg Mueller and Abishek Hariharan and Nora Ayanian and Gaurav Sukhatme}
}
@conference {190,
	title = {Dynamic Resource Reallocation for Robots on Long Term Deployments},
	booktitle = {IEEE Intl Conf Automation Science and Engineering},
	year = {2015},
	month = {Aug},
	address = {Gothenburg, Sweden},
	author = {Nitin Kamra and Nora Ayanian}
}
@conference {212,
	title = {Minimizing communication latency in multirobot situation-aware patrolling},
	booktitle = {Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Banfi, Jacopo and Basilico, Nicola and Amigoni, Francesco}
}
@conference {359,
	title = {A mixed integer programming model for timed deliveries in multirobot systems},
	booktitle = {2015 IEEE International Conference on Automation Science and Engineering (CASE)2015 IEEE International Conference on Automation Science and Engineering (CASE)},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Gothenburg, Sweden},
	doi = {10.1109/CoASE.2015.7294146},
	url = {http://ieeexplore.ieee.org/document/7294146/http://xplorestaging.ieee.org/ielx7/7279855/7294025/07294146.pdf?arnumber=7294146},
	author = {Kamra, Nitin and Ayanian, Nora}
}
@conference {192,
	title = {Mixed Reality for Robotics},
	booktitle = {IEEE/RSJ Intl Conf. Intelligent Robots and Systems},
	year = {2015},
	month = {Sept},
	address = {Hamburg, Germany},
	author = {Wolfgang Hoenig and Christina Milanes and Lisa Scaria and Thai Phan and Mark Bolas and Nora Ayanian}
}
@conference {360,
	title = {Mixed reality for robotics},
	booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Hamburg, Germany},
	doi = {10.1109/IROS.2015.7354138},
	url = {http://ieeexplore.ieee.org/document/7354138/http://xplorestaging.ieee.org/ielx7/7347169/7353104/07354138.pdf?arnumber=7354138},
	author = {Honig, Wolfgang and Milanes, Christina and Scaria, Lisa and Phan, Thai and Bolas, Mark and Ayanian, Nora}
}
@article {111,
	title = {Observer-Based Decentralized Fault Detection and Isolation Strategy for Networked Multirobot Systems},
	journal = {Control Systems Technology, IEEE Transactions on},
	volume = {PP},
	year = {2015},
	pages = {1-1},
	abstract = {In this paper, we present a distributed fault {detection} and isolation (FDI) strategy for a team of networked robots that builds on a distributed controller-observer schema. Remarkably different from other works in literature, the proposed FDI approach makes each robot of the team able to detect and isolate faults occurring on other robots, even if they are not direct neighbors. By means of a local observer, each robot can estimate the overall state of the team and it can use such an estimate to compute its local control input to achieve global tasks. The same information used by the local observers is also used to compute residual vectors, whose aim is to allow the detection and the isolation of actuator faults occurring on any robot of the team. Adaptive thresholds are derived based on the dynamics of the residual vectors by considering the presence of nonzero initial observer estimation errors, and noise terms affecting state measurement and model dynamics. The approach is validated via both numerical simulations and experiments involving four Khepera III mobile robots.},
	keywords = {Distributed multirobot systems, Fault detection, fault detection and isolation (FDI), networked robots., Noise, Noise measurement, Observers, Robots, Uncertainty, Vectors},
	issn = {1063-6536},
	doi = {10.1109/TCST.2014.2377175},
	url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=7004823},
	author = {Arrichiello, F. and Marino, A. and Pierri, F.}
}
@conference {191,
	title = {The Optimism Principle: A Unified Framework for Optimal Robotic Network Deployment in An Unknown Obstructed Environment},
	booktitle = {IEEE/RSJ Intl Conf. Intelligent Robots and Systems},
	year = {2015},
	month = {Sept.},
	address = {Hamburg, Germany},
	author = {Shangxing Wang and Bhaskar Krishnamachari and Nora Ayanian}
}
@conference {367,
	title = {The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment},
	booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Hamburg, Germany},
	doi = {10.1109/IROS.2015.7353728},
	url = {http://ieeexplore.ieee.org/document/7353728/http://xplorestaging.ieee.org/ielx7/7347169/7353104/07353728.pdf?arnumber=7353728},
	author = {Wang, Shangxing and Krishnamachari, Bhaskar and Ayanian, Nora}
}
@article {167,
	title = {A semantically-informed multirobot system for exploration of relevant areas in search and rescue settings},
	journal = {Autonomous Robots},
	year = {2015},
	pages = {1{\textendash}17},
	abstract = {Coordinated multirobot exploration involves autonomous discovering and mapping of the features of initially unknown environments by using multiple robots. Autonomously exploring mobile robots are usually driven, both in selecting locations to visit and in assigning them to robots, by knowledge of the already explored portions of the environment, often represented in a metric map. In the literature, some works addressed the use of semantic knowledge in exploration, which, embedded in a semantic map, associates spatial concepts (like {\textquoteleft}rooms{\textquoteright} and {\textquoteleft}corridors{\textquoteright}) with metric entities, showing its effectiveness in improving the total area explored by robots. In this paper, we build on these results and propose a system that exploits semantic information to push robots to explore relevant areas of initially unknown environments, according to a priori information provided by human users. Discovery of relevant areas is significant in some search and rescue settings, in which human rescuers can instruct robots to search for victims in specific areas, for example in cubicles if a disaster happened in an office building during working hours. We propose to speed up the exploration of specific areas by using semantic information both to select locations to visit and to determine the number of robots to allocate to those locations. In this way, for example, more robots could be assigned to a candidate location in a corridor, so the attached rooms can be explored faster. We tested our semantic-based multirobot exploration system within a reliable robot simulator and we evaluated its performance in realistic search and rescue indoor settings with respect to state-of-the-art approaches.},
	keywords = {Coordinated multirobot exploration, Search and Rescue, Semantic map},
	issn = {1573-7527},
	doi = {10.1007/s10514-015-9480-x},
	url = {http://dx.doi.org/10.1007/s10514-015-9480-x},
	author = {Quattrini~Li, Alberto and Cipolleschi, Riccardo and Giusto, Michele and Amigoni, Francesco}
}
@conference {AyanianControlling2014,
	title = {Controlling a Team of Robots from a Single Input},
	booktitle = {IEEE Int{\textquoteright}l Conf. Robotics and Automation},
	year = {2014},
	month = {Jun},
	pages = {1755 - 1762},
	address = {Hong Kong},
	author = {Nora Ayanian and Andrew Spielberg and Matthew Arbesfeld and Jason Strauss and Daniela Rus}
}
@conference {HausmanCooperative2014,
	title = {Cooperative Control for Target Tracking with Onboard Sensing},
	booktitle = {International Symposium of Robotics Research},
	year = {2014},
	month = {Jun},
	address = {Morocco},
	author = {Karol Hausman and Joerg Mueller and Abishek Hariharan and Nora Ayanian and Gaurav Sukhatme}
}
@conference {GargPersistent2014,
	title = {Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots},
	booktitle = {Robotics: Science and Systems},
	year = {2014},
	month = {Jul},
	address = {Berkeley, CA},
	author = {Sahil Garg and Nora Ayanian}
}
@article {155,
	title = {Stochastic Optimal Enhancement of Distributed Formation Control Using Kalman Smoothers},
	journal = {Robotica},
	volume = {32},
	year = {2014},
	month = {03/2014},
	pages = {305-324},
	author = {Ross Anderson and Dejan Milutinovi{\'c}}
}
@article {81,
	title = {A decentralized controller-observer scheme for multi-agent weighted centroid tracking},
	journal = {IEEE Transactions on Automatic Control},
	volume = {58},
	year = {2013},
	pages = {1310{\textendash}1316},
	author = {Antonelli, Gianluca and Arrichiello, Filippo and Caccavale, Fabrizio and Marino, Alessandro}
}
@inbook {170,
	title = {How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue?},
	booktitle = {RoboCup 2012: Robot Soccer World Cup XVI},
	series = {Lecture Notes in Computer Science},
	number = {7500},
	year = {2013},
	pages = {106{\textendash}117},
	publisher = {Springer},
	organization = {Springer},
	chapter = {How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue?},
	address = {Berlin, Heidelberg},
	abstract = {Exploration of unknown environments is an enabling task for several applications, including map building and search and rescue. It is widely recognized that several benefits can be derived from deploying multiple mobile robots in exploration, including increased robustness and efficiency. Two main issues of multirobot exploration are the exploration strategy employed to select the most convenient observation locations the robots should reach in a partially known environment and the coordination method employed to manage the interferences between the actions performed by robots. From the literature, it is difficult to assess the relative effects of these two issues on the system performance. In this paper, we contribute to filling this gap by studying a search and rescue setting in which different coordination methods and exploration strategies are implemented and their contributions to an efficient exploration of indoor environments are comparatively evaluated. Although preliminary, our experimental data lead to the following results: the role of exploration strategies dominates that of coordination methods in determining the performance of an exploring multirobot system in a highly structured indoor environment, while the situation is reversed in a less structured indoor environment.},
	keywords = {coordination, Exploration, multirobot, Search and Rescue},
	isbn = {978-3-642-39250-4},
	doi = {10.1007/978-3-642-39250-4_11},
	url = {http://dx.doi.org/10.1007/978-3-642-39250-4_11},
	author = {Amigoni, Francesco and Basilico, Nicola and Quattrini~Li, Alberto},
	editor = {Chen, Xiaoping and Stone, Peter and Sucar, Luis Enrique and Zant, Tijn}
}
@conference {364,
	title = {Improving the performance of multi-robot systems by task switching},
	booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Karlsruhe, Germany},
	isbn = {978-1-4673-5641-1},
	doi = {10.1109/ICRA.2013.6630993},
	url = {http://ieeexplore.ieee.org/document/6630993/http://xplorestaging.ieee.org/ielx7/6615630/6630547/06630993.pdf?arnumber=6630993},
	author = {Sung, Cynthia and Ayanian, Nora and Rus, Daniela}
}
@conference {SungImproving2013,
	title = {Improving the Performance of Multi-Robot Systems by Task Switching},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2013},
	month = {May},
	pages = {2984 - 2991},
	address = {Karlsruhe, Germany},
	author = {Cynthia Sung and Nora Ayanian and Daniela Rus}
}
@article {40,
	title = {RoboCup Rescue Robot and Simulation Leagues},
	journal = {AI Magazine},
	volume = {34},
	year = {2013},
	pages = {78{\textendash}87},
	abstract = {The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (e.g. Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.},
	author = {H. L. Akin and N. Ito and A. Jacoff and A. Kleiner and J. Pellenz and A. Visser}
}
@conference {336,
	title = {Semantically-Informed Coordinated Multirobot Exploration of Relevant Areas in Search and Rescue Settings},
	booktitle = {Proceedings of the 6th European Conference on Mobile Robots (ECMR)},
	year = {2013},
	abstract = {Coordinated multirobot exploration involves autonomous discovering of unknown features in environments by using multiple robots. Autonomously exploring mobile robots are driven by knowledge of the already explored portions of the environment, usually represented in a metric map. In the literature, some works addressed the use of semantic knowledge in exploration, which, embedded in a semantic map, associates spatial concepts (like {\textquoteleft}rooms{\textquoteright} and {\textquoteleft}corridors{\textquoteright}) with metric entities, showing its effectiveness to improve total explored area. In this paper, we build on these results and propose a system that exploits semantic information to push robots to explore areas that are relevant, according to a priori information provided by human users. We tested our semantic-based multirobot exploration system in a reliable robot simulator and evaluated its performance in realistic search and rescue settings with respect to state-of-the-art approaches.},
	doi = {10.1109/ECMR.2013.6698845},
	author = {Riccardo Cipolleschi and Michele Giusto and Quattrini~Li, Alberto and Francesco Amigoni}
}
@conference {AyanianDecentralized2012,
	title = {Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment},
	booktitle = {IFAC Workshop on Distributed Estimation and Control in Networked Systems},
	year = {2012},
	month = {Sept},
	pages = {311-316},
	address = {Santa Barbara, CA},
	author = {Nora Ayanian and Daniela Rus and Vijay Kumar}
}
@conference {abhisekh2012onboard,
	title = {Onboard dynamic rail track safety monitoring system},
	booktitle = {International Conference on Advanced Communication Systems, ICACS},
	year = {2012},
	author = {Abhisekh Jain, S and Arvind, S and Balaji, BS and Ram Viyas, NP}
}
@conference {98,
	title = {Rigidity Maintenance Control for Multi-Robot Systems},
	booktitle = {2012 Robotics: Science and Systems Conference},
	year = {2012},
	month = {07/2012},
	address = {Sydney, Australia},
	abstract = {Rigidity of formations in multi-robot systems is important for formation control, localization, and sensor fusion. This work proposes a rigidity maintenance gradient controller for a multi-agent robot team. To develop such a controller, we first provide an alternative characterization of the rigidity matrix and use that to introduce the novel concept of the rigidity eigenvalue. We provide a necessary and sufficient condition relating the positivity of the rigidity eigenvalue to the rigidity of the formation. The rigidity maintenance controller is based on the gradient of the rigidity eigenvalue with respect to each robot position. This gradient has a naturally distributed structure, and is thus amenable to a distributed implementation. Additional requirements such as obstacle and inter-agent collision avoidance, as well as typical constraints such as limited sensing/communication ranges and line-of-sight occlusions, are also explicitly considered. Finally, we present a simulation with a group of seven quadrotor UAVs to demonstrate and validate the theoretical results.},
	keywords = {Decentralized control, Formation control, Motion control of multiple robots, Multi-robot systems, Rigidity mainenance},
	author = {Daniel Zelazo and Antonio Franchi and Frank Allg{\"o}wer and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {WagnerSubdimensional2012,
	title = {Subdimensional Expansion and Optimal Task Reassignment},
	booktitle = {AAAI Symposium on Combinatorial Search},
	year = {2012},
	month = {July},
	address = {Niagara Falls, ON, Canada},
	author = {Glenn Wagner and Howie Choset and Nora Ayanian}
}
@inbook {217,
	title = {Computational Science and Its Applications - ICCSA 2011: International Conference, Santander, Spain, June 20-23, 2011. Proceedings, Part III},
	year = {2011},
	pages = {58{\textendash}73},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	chapter = {Multi-robot Visual Coverage Path Planning: Geometrical Metamorphosis of the Workspace through Raster Graphics Based Approaches},
	address = {Berlin, Heidelberg},
	isbn = {978-3-642-21931-3},
	doi = {10.1007/978-3-642-21931-3_5},
	url = {http://dx.doi.org/10.1007/978-3-642-21931-3_5},
	author = {Valente, Jo{\~a}o and Barrientos, Antonio and Del Cerro, Jaime and Rossi, Claudio and Colorado, Julian and Sanz, David and Garz{\'o}n, Mario},
	editor = {Murgante, Beniamino and Gervasi, Osvaldo and Iglesias, Andr{\'e}s and Taniar, David and Apduhan, Bernady O.}
}
@mastersthesis {AyanianThesis,
	title = {Coordination of Multirobot Teams and Groups in Constrained Environments: Models, Abstractions, and Control Policies},
	year = {2011},
	school = {University of Pennsylvania},
	type = {phd},
	author = {Nora Ayanian}
}
@inbook {NA:VK:DK:ISRR09,
	title = {Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints},
	booktitle = {Robotics Research},
	series = {Springer Tracts in Advanced Robotics},
	volume = {70},
	year = {2011},
	pages = {625-642},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	author = {Nora Ayanian and Kumar, Vijay and Koditschek, Daniel},
	editor = {Pradalier, C{\'e}dric and Siegwart, Roland and Hirzinger, Gerhard}
}
@conference {361,
	title = {Synthesis of feedback controllers for multiple aerial robots with geometric constraints},
	booktitle = {2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2011},
	publisher = {IEEE},
	organization = {IEEE},
	address = {San Francisco, CA},
	isbn = {978-1-61284-454-1},
	doi = {10.1109/IROS.2011.6094943},
	url = {http://ieeexplore.ieee.org/document/6094943/http://xplorestaging.ieee.org/ielx5/6034548/6094399/06094943.pdf?arnumber=6094943},
	author = {Ayanian, Nora and Kallem, Vinutha and Kumar, Vijay}
}
@conference {AyanianSynthesis2011,
	title = {Synthesis of Feedback Controllers for Multiple Aerial Robots with Geometric Constraints},
	booktitle = {Intl Conf Intelligent Robots and Systems},
	year = {2011},
	month = {Sept.},
	pages = {3126-3131},
	address = {San Francisco, CA},
	author = {Nora Ayanian and Vinutha Kallem and Vijay Kumar}
}
@conference {NA:VK:ICRA10,
	title = {Abstractions and Controllers for Groups of Robots in Environments with Obstacles},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2010},
	month = {May},
	pages = {3537 - 3542},
	address = {Anchorage, AK},
	keywords = {Aut:Yes, Coll:Other, Comp:Cent, End:Yes, Form:Other, Guar:Yes, Level:Hi, Num:M, Obs:Stat},
	author = {Nora Ayanian and Vijay Kumar}
}
@conference {368,
	title = {Abstractions and controllers for groups of robots in environments with obstacles},
	booktitle = {2010 IEEE International Conference on Robotics and Automation (ICRA 2010)2010 IEEE International Conference on Robotics and Automation},
	year = {2010},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Anchorage, AK},
	isbn = {978-1-4244-5038-1},
	doi = {10.1109/ROBOT.2010.5509534},
	url = {http://ieeexplore.ieee.org/document/5509534/http://xplorestaging.ieee.org/ielx5/5501116/5509124/05509534.pdf?arnumber=5509534},
	author = {Ayanian, Nora and Kumar, Vijay}
}
@article {AyanianDecentralized2010,
	title = {Decentralized feedback controllers for multi-agent teams in environments with obstacles},
	journal = {IEEE Transactions on Robotics},
	volume = {26},
	number = {5},
	year = {2010},
	month = {October},
	pages = {878 - 887},
	author = {Nora Ayanian and Vijay Kumar}
}
@article {369,
	title = {Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles},
	journal = {IEEE Transactions on Robotics},
	volume = {26},
	year = {2010},
	month = {Jan-10-2010},
	pages = {878 - 887},
	issn = {1552-3098},
	doi = {10.1109/TRO.2010.2062070},
	url = {http://ieeexplore.ieee.org/document/5559517/http://xplorestaging.ieee.org/ielx5/8860/5592139/05559517.pdf?arnumber=5559517},
	author = {Ayanian, Nora and Kumar, Vijay}
}
@conference {NA:VK:ICRA08,
	title = {Decentralized feedback controllers for multi-agent teams in environments with obstacles},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2008},
	month = {May},
	pages = {1936-1941},
	address = {Pasadena, CA},
	keywords = {Aut:Yes, Coll:Yes, Comp:Part, Env:Yes, Form:Lab, Guar:Yes, Level:Low, Num:S, Obs:Stat},
	author = {Nora Ayanian and Kumar,~V.}
}
@conference {HKG:NA:CASE08,
	title = {Recycling controllers},
	booktitle = {IEEE International Conf. on Automation Science and Engineering},
	year = {2008},
	month = {Aug},
	pages = {772-777},
	address = {Washington, DC},
	keywords = {atomic controller, automata theory, collision avoidance, control scheme design, control system synthesis, deadlock reduction, discrete automaton, heterogeneous robot team, mobile robots, Multi-robot systems, recycling controller},
	doi = {10.1109/COASE.2008.4626521},
	author = {Hadas Kress-Gazit and Nora Ayanian and George J. Pappas and Vijay Kumar}
}
@conference {362,
	title = {Recycling controllers},
	booktitle = {2008 IEEE International Conference on Automation Science and Engineering (CASE 2008)2008 IEEE International Conference on Automation Science and Engineering},
	year = {2008},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Arlington, VA},
	isbn = {978-1-4244-2022-3},
	doi = {10.1109/COASE.2008.4626521},
	url = {http://ieeexplore.ieee.org/document/4626521/http://xplorestaging.ieee.org/ielx5/4622934/4626395/04626521.pdf?arnumber=4626521},
	author = {Kress-Gazit, Hadas and Ayanian, Nora and Pappas, George J. and Kumar, Vijay}
}
@conference {NA:PW:AH:MR08,
	title = {Stochastic Control for Self-Assembly of {XB}ots},
	booktitle = {ASME Mechanisms and Robotics Conference},
	volume = {2},
	year = {2008},
	month = {August},
	pages = {1169-1176},
	address = {New York, NY},
	author = {Nora Ayanian and Paul White and Adam Hal{\'a}sz and Mark Yim and Vijay Kumar}
}
@conference {154,
	title = {Biologically Inspired Stochastic Hybrid Control of Multi-Robot Systems},
	booktitle = {Proceedings of the 11th International Conference on Advanced Robotics  (ICAR)},
	year = {2003},
	address = {Coimbra, Portugal},
	author = {Dejan Milutinovi{\'c} and Pedro Lima and Michael Athans}
}
