@article {nairfault,
	title = {Fault-Tolerant Formation Control of Nonholonomic Robots Using Fast Adaptive Gain Nonsingular Terminal Sliding Mode Control},
	year = {Submitted},
	author = {Nair, Ranjith Ravindranathan and Karki, Hamad and Shukla, Amit and Behera, Laxmidhar and Jamshidi, Mo}
}
@article {ravipatiobject,
	title = {Object-Oriented Material Classification and 3D Clustering for Improved Semantic Perception and Mapping in Mobile Robots (Extended Version)},
	year = {Submitted},
	author = {Ravipati, Siva Krishna and Latif, Ehsan and Parasuraman, Ramviyas and Bhandarkar, Suchendra M}
}
@article {bathulasynthetic,
	title = {Synthetic Instincts: Echoing Reinforcement Learning Agents for Behavior Tree Generation},
	year = {Submitted},
	author = {Bathula, Shailendra Sekhar Reddy}
}
@conference {ravipati2024object,
	title = {Object-Oriented Material Classification and 3D Clustering for Improved Semantic Perception and Mapping in Mobile Robots},
	booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2024},
	author = {Ravipati, Siva Krishna and Latif, Ehsan and Parasuraman, Ramviyas and Bhandarkar, Suchendra M}
}
@article {Hunt2020b,
	title = {The Bayesian Superorganism: Collective Probability Estimation in Swarm Systems},
	journal = {Artificial Life Conference Proceedings},
	volume = {32},
	year = {2020},
	note = {doi: 10.1162/isal_a_00247},
	month = {7},
	pages = {315-323},
	publisher = {MIT Press},
	abstract = {Superorganisms such as social insect colonies are very successful relative to their non-social counterparts. Powerful emergent information processing capabilities would seem to contribute to the abundance of such ?swarm? systems, as they effectively explore and exploit their environment collectively. We develop a Bayesian model of collective information processing in a decision-making task: choosing a nest site (a ?multi-armed bandit? problem). House-hunting Temnothorax ants are adept at discovering and choosing the best available nest site for their colony: we propose that this is possible via rapid, decentralized estimation of the probability that each choice is best. Viewed this way, their behavioral algorithm can be understood as a statistical method that anticipates recent advances in mathematics. Our nest finding model incorporates insights from approximate Bayesian computation as a model of colony-level behavior; and particle filtering as a model of Temnothorax ?tandem running?. Our framework suggests that the mechanisms of complex collective behavior can sometimes be explained as a spatial enactment of Bayesian inference. It facilitates the generation of quantitative hypotheses regarding individual and collective movement behaviors when collective decisions must be made. It also points to the potential for bioinspired statistical techniques. Finally, it suggests simple mechanisms for collective decision-making in engineered systems, such as robot swarms.},
	doi = {10.1162/isal_a_00247},
	url = {https://www.mitpressjournals.org/doi/abs/10.1162/isal_a_00247},
	author = {Edmund R Hunt and Nigel R Franks and Roland J Baddeley}
}
@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}
}
@article {399,
	title = {A Multi-Trip Task Assignment for Early Target Inspection in Squads of Aerial Drones},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {in press},
	year = {2020},
	author = {N. Bartolini and Andrea Coletta and Gaia Maselli and Ala Khalifeh}
}
@article {luo2019multi,
	title = {Multi-robot rendezvous based on bearing-aided hierarchical tracking of network topology},
	journal = {Ad Hoc Networks},
	volume = {86},
	year = {2019},
	pages = {131{\textendash}143},
	publisher = {Elsevier},
	author = {Luo, Shaocheng and Kim, Jonghoek and Parasuraman, Ramviyas and Bae, Jun Han and Matson, Eric T and Min, Byung-Cheol}
}
@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}
}
@proceedings {406,
	title = {On Task Assignment for Early Target Inspection in Squads of Aerial Drones},
	year = {2019},
	author = {N. Bartolini and A. Coletta and G. Maselli}
}
@conference {377,
	title = {Adding Heuristics to Conflict-Based Search for Multi-Agent Pathfinding},
	booktitle = {International Conference on Automated Planning and Scheduling (ICAPS)},
	year = {2018},
	author = {Ariel Felner and Jiaoyang Li and Eli Boyarski and Hang Ma and Liron Cohen and T. K. Satish Kumar and Sven Keonig}
}
@article {nair2018fault,
	title = {Fault tolerant formation control of nonholonomic robots using fast adaptive gain nonsingular terminal sliding mode control},
	journal = {IEEE Systems Journal (Accepted)},
	number = {99},
	year = {2018},
	publisher = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Karki, Hamad and Shukla, Amit and Behera, Laxmidhar and Jamshidi, Mo}
}
@article {nair2018robust,
	title = {Robust adaptive gain higher order sliding mode observer based control-constrained nonlinear model predictive control for spacecraft formation flying},
	journal = {IEEE/CAA Journal of Automatica Sinica},
	volume = {5},
	number = {1},
	year = {2018},
	pages = {367{\textendash}381},
	publisher = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar}
}
@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}
}
@article {nair2017event,
	title = {Event-Triggered Finite-Time Integral Sliding Mode Controller for Consensus-Based Formation of Multirobot Systems With Disturbances},
	journal = {IEEE Transactions on Control Systems Technology},
	number = {99},
	year = {2017},
	pages = {1{\textendash}9},
	publisher = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar and Kumar, Swagat}
}
@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 {parasuraman2017new,
	title = {A New UGV Teleoperation Interface for Improved Awareness of Network Connectivity and Physical Surroundings},
	journal = {Journal of Human-Robot Interaction},
	volume = {6},
	number = {3},
	year = {2017},
	pages = {48{\textendash}70},
	author = {Parasuraman, Ramviyas and Caccamo, Sergio and B{\r a}berg, Fredrik and {\"O}gren, Petter and Neerincx, Mark}
}
@conference {nair2016adaptive,
	title = {Adaptive fuzzy nonsingular fast terminal sliding mode control for spacecraft formation flying},
	booktitle = {IEEE First International conference on Control, Measurement and Instrumentation, Kolkata, India},
	year = {2016},
	pages = {408{\textendash}413},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar}
}
@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}
}
@booklet {parasuraman2016crawdad,
	title = {CRAWDAD dataset kth/rss (v. 2016-01-05)},
	howpublished = {https://crawdad.org/kth/rss/20160105/},
	number = {https://doi.org/10.15783/C7088F},
	year = {2016},
	author = {Parasuraman, Ramviyas and Caccamo, Sergio and B{\r a}berg, Fredrik and {\"O}gren, Petter}
}
@booklet {parasuraman2016crawdad,
	title = {CRAWDAD Dataset kth/rss (v. 2016-01-05). 2016},
	year = {2016},
	author = {Parasuraman, R and Caccamo, S and Baberg, F and Ogren, P}
}
@booklet {parasuraman2016crawdad,
	title = {CRAWDAD Dataset KTH/RSS (V. 2016-01-05) Traceset: Outdoor},
	howpublished = {http://crawdad.org/kth/rss/20160105/outdoor},
	year = {2016},
	author = {Parasuraman, Ramviyas and Caccamo, Sergio and B{\r a}berg, Fredrik and {\"O}gren, Petter}
}
@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}
}
@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}
}
@article {400,
	title = {On the Vulnerabilities of Voronoi-Based Approaches to Mobile Sensor Deployment},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {15},
	year = {2016},
	month = {Dec},
	pages = {3114-3128},
	abstract = {Mobile sensor networks are the most promising solution to cover an Area of Interest (AoI) in safety critical scenarios. Mobile devices can coordinate with each other according to a distributed deployment algorithm, without resorting to human supervision for device positioning and network configuration. In this paper, we focus on the vulnerabilities of the deployment algorithms based on Voronoi diagrams to coordinate mobile sensors and guide their movements. We give a geometric characterization of possible attack configurations, proving that a simple attack consisting of a barrier of few compromised sensors can severely reduce network coverage. On the basis of the above characterization, we propose two new secure deployment algorithms, named SecureVor and Secure Swap Deployment (SSD). These algorithms allow a sensor to detect compromised nodes by analyzing their movements, under different and complementary operative settings. We show that the proposed algorithms are effective in defeating a barrier attack, and both have guaranteed termination. We perform extensive simulations to study the performance of the two algorithms and compare them with the original approach. Results show that SecureVor and SSD have better robustness and flexibility and excellent coverage capabilities and deployment time, even in the presence of an attack.},
	keywords = {area of interest, Bills of materials, computational geometry, Computer science, deployment algorithms, device positioning, Mobile communication, Mobile computing, mobile radio, mobile sensor deployment, mobile sensor networks, Mobile sensors, mobile wireless sensors, Monitoring, network configuration, network coverage, secureVor secure swap deployment, self-deployment, sensors, telecommunication security, Voronoi approach, Voronoi-based approaches, wireless sensor networks},
	issn = {1558-0660},
	doi = {10.1109/TMC.2016.2524630},
	author = {N. Bartolini and S. Ciavarella and S. Silvestri and T. L. Porta}
}
@article {97,
	title = {Decentralized rigidity maintenance control with range measurements for multi-robot systems},
	journal = {International Journal of Robotics Research},
	volume = {34},
	year = {2015},
	month = {01/2015},
	pages = {128},
	chapter = {105},
	abstract = {This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first contribution of this work is an extension of rigidity theory to weighted frameworks and the rigidity eigenvalue, which when positive ensures the infinitesimal rigidity of the framework. We then propose a distributed algorithm for estimating a common relative position reference frame amongst a team of robots with only range measurements in addition to one agent endowed with the capability of measuring the bearing to two other agents. This first estimation step is embedded into a subsequent distributed algorithm for estimating the rigidity eigenvalue associated with the weighted framework. The estimate of the rigidity eigenvalue is finally used to generate a local control action for each agent that both maintains the rigidity property and enforces additional constraints such as collision avoidance and sensing/communication range limits and occlusions. As an additional feature of our approach, the communication and sensing links among the robots are also left free to change over time while preserving rigidity of the whole framework. The proposed scheme is then experimentally validated with a robotic testbed consisting of six quadrotor unmanned aerial vehicles operating in a cluttered environment. },
	keywords = {Decentralized control, distributed algorithm, distributed estimation, graph rigidity, multi-robot},
	doi = {10.1177/0278364914546173},
	url = {http://ijr.sagepub.com/content/34/1/105},
	author = {Daniel Zelazo and Antonio Franchi and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {caccamo2015extending,
	title = {Extending a UGV teleoperation FLC interface with wireless network connectivity information},
	booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2015},
	pages = {4305{\textendash}4312},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Caccamo, Sergio and Parasuraman, Ramviyas and B{\r a}berg, Fredrik and {\"O}gren, Petter}
}
@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 {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 {215,
	title = {A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios},
	journal = {Journal of Field Robotics},
	year = {2015},
	pages = {n/a{\textendash}n/a},
	issn = {1556-4967},
	doi = {10.1002/rob.21636},
	url = {http://dx.doi.org/10.1002/rob.21636},
	author = {Garz{\'o}n, Mario and Valente, Jo{\~a}o and Rold{\'a}n, Juan Jes{\'u}s and Cancar, Leandro and Barrientos, Antonio and Del Cerro, Jaime}
}
@article {nair2015multisatellite,
	title = {Multisatellite Formation Control for Remote Sensing Applications Using Artificial Potential Field and Adaptive Fuzzy Sliding Mode Control},
	journal = {IEEE Systems Journal},
	volume = {9},
	number = {2},
	year = {2015},
	pages = {508{\textendash}518},
	publisher = {IEEE Systems Journal},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar and Kumar, Vinod and Jamshidi, Mo}
}
@conference {nair2015robust,
	title = {Robust adaptive gain nonsingular fast terminal sliding mode control for spacecraft formation flying},
	booktitle = {Decision and Control (CDC), 2015 IEEE 54th Annual Conference on},
	year = {2015},
	pages = {5314{\textendash}5319},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar}
}
@article {401,
	title = {On the Vulnerabilities of the Virtual Force Approach to Mobile Sensor Deployment},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {13},
	year = {2014},
	pages = {2592-2605},
	author = {N. Bartolini and G. Bongiovanni and T. F. La Porta and S. Silvestri}
}
@article {216,
	title = {An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas},
	journal = {Sensors},
	volume = {13},
	year = {2013},
	pages = {1247},
	abstract = {There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning) require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.},
	issn = {1424-8220},
	doi = {10.3390/s130101247},
	url = {http://www.mdpi.com/1424-8220/13/1/1247},
	author = {Garz{\'o}n, Mario and Valente, Jo{\~a}o and Zapata, David and Barrientos, Antonio}
}
@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}
}
@article {137,
	title = {A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance},
	journal = {The International Journal of Robotics Research},
	volume = {32},
	year = {2013},
	month = {03/2013},
	pages = {299-323},
	abstract = {The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, connectivity of the underlying interaction graph plays a fundamental role: it represents a necessary condition for allowing a group or robots achieving a common task by resorting to only local information. Goal of this paper is to present a novel decentralized strategy able to enforce connectivity maintenance for a group of robots in a flexible way, that is, by granting large freedom to the group internal configuration so as to allow establishment/deletion of interaction links at anytime as long as global connectivity is preserved. A peculiar feature of our approach is that we are able to embed into a unique connectivity preserving action a large number of constraints and requirements for the group: (i) presence of specific inter-robot sensing/communication models, (ii) group requirements such as formation control, and (iii) individual requirements such as collision avoidance. This is achieved by defining a suitable global potential function of the second smallest eigenvalue λ2 of the graph Laplacian, and by computing, in a decentralized way, a gradient-like controller built on top of this potential. Simulation results obtained with a group of quadorotor UAVs and UGVs, and experimental results obtained with four quadrotor UAVs, are finally presented to thoroughly illustrate the features of our approach on a concrete case study.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Motion control of multiple robots},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi and Heinrich H. B{\"u}lthoff}
}
@conference {404,
	title = {On the security vulnerabilities of the virtual force approach to mobile sensor deployment},
	booktitle = {2013 Proceedings IEEE INFOCOM},
	year = {2013},
	author = {N. Bartolini and G. Bongiovanni and T. L. Porta and S. Silvestri}
}
@article {138,
	title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles},
	journal = {IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics},
	volume = {18},
	year = {2013},
	month = {08/2013},
	pages = {1334-1345},
	abstract = {We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP{\textquoteright}s motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs{\textquoteright} velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.},
	keywords = {Bilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms},
	author = {Dongjun Lee and Antonio Franchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {nair2013tracking,
	title = {Tracking control of spacecraft formation flying using Fuzzy sliding mode control with adaptive tuning technique},
	booktitle = {Fuzzy Systems (FUZZ), 2013 IEEE International Conference on},
	year = {2013},
	pages = {1{\textendash}8},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar}
}
@conference {146,
	title = {3D Mutual Localization with Anonymous Bearing Measurements},
	booktitle = {2012 IEEE Int. Conf. on Robotics and Automation},
	year = {2012},
	month = {05/2012},
	address = {St. Paul, MN},
	abstract = {We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bear- ing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case, and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.},
	keywords = {Distributed algorithms, Estimation, Localization, Localization of aerial robots, Multi-robot systems},
	author = {Marco Cognetti and Paolo Stegagno and Antonio Franchi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff}
}
@article {141,
	title = {Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology},
	journal = {IEEE Transaction on Robotics},
	volume = {28},
	year = {2012},
	month = {10/2012},
	pages = {1019	-1033},
	abstract = {In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine and under- water) is proposed. By using a decentralized control architecture, the group of robots, treated as the slave-side, is made able to navigate in a cluttered environment while avoiding obstacles, inter-robot collisions and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to inter-robot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics, and validate performance through human/hardware-in-the-tloop simulations by considering a heterogeneous fleet of UAVs and UGVs as case study. Finally, we also provide an experimental validation with 4 quadrotor UAV},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	author = {Antonio Franchi and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@article {134,
	title = {On Cooperative Patrolling: Optimal Trajectories, Complexity Analysis, and Approximation Algorithms},
	journal = {IEEE Transaction on Robotics},
	volume = {28},
	year = {2012},
	month = {06/2012},
	pages = {592-606},
	abstract = {The subject of this work is the patrolling of an environment with the aid of a team of autonomous agents. We consider both the design of open-loop trajectories with optimal properties, and of distributed control laws converging to optimal trajectories. As performance criteria, the refresh time and the latency are considered, i.e., respectively, time gap between any two visits of the same region, and the time necessary to inform every agent about an event occurred in the environment. We associate a graph with the environment, and we study separately the case of a chain, tree, and cyclic graph. For the case of chain graph, we first describe a minimum refresh time and latency team trajectory, and we propose a polynomial time algorithm for its computation. Then, we describe a distributed procedure that steers the robots toward an optimal trajectory. For the case of tree graph, a polynomial time algorithm is developed for the minimum refresh time problem, under the technical assumption of a constant number of robots involved in the patrolling task. Finally, we show that the design of a minimum refresh time trajectory for a cyclic graph is NP-hard, and we develop a constant factor approximation algorithm.},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Patrolling / Surveillance},
	url = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6122514},
	author = {Fabio Pasqualetti and Antonio Franchi and Francesco Bullo}
}
@article {135,
	title = {Distributed Pursuit-Evasion without Mapping and Global Localization via Local Frontiers},
	journal = {Autonomous Robots},
	volume = {32},
	year = {2012},
	month = {01/2012},
	pages = {81-95},
	abstract = {This paper addresses a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a map of the environment or requiring global localization. We demonstrate the functionality of the algorithm through simulations in realistic environments and through hardware experiments. We also compare Monte Carlo results for our algorithm to the theoretical optimum area cleared as a function of the number of robots available.},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	url = {http://www.springerlink.com/content/a02pr41790ll754w/},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
@conference {ranjith2012formation,
	title = {Formation Control of Non-holonomic Robots using Artificial Potential Field and Fuzzy Sliding Mode Control with Adaptive Tuning Technique},
	booktitle = {International conference on advances in control and optimization of dynamical systems, IISc Bangalore, India (won 2nd best paper award)},
	year = {2012},
	pages = {1{\textendash}9},
	author = {Ranjith, R and Behera, Laxmidhar}
}
@article {35,
	title = {Modeling and Control of UAV Bearing-Formations with Bilateral High-Level Steering},
	journal = {The International Journal of Robotics Research, Special Issue on 3D Exploration, Mapping, and Surveillance},
	volume = {31},
	year = {2012},
	month = {10/2012},
	pages = {1504-1525},
	abstract = {In this paper we address the problem of controlling the motion of a group of UAVs bound to keep a formation defined in terms of only relative angles (i.e., a bearing-formation). This problem can naturally arise within the context of several multi-robot applications such as, e.g., exploration, coverage, and surveillance. First, we introduce and thoroughly analyze the concept and properties of bearing-formations, and provide a class of minimally linear sets of bearings sufficient to uniquely define such formations. We then propose a bearing-only formation controller requiring only bearing measurements, converging almost globally, and maintaining bounded inter-agent distances despite the lack of direct metric information. The controller still leaves the possibility to impose group motions tangent to the current bearing-formation. These can be either autonomously chosen by the robots because of any additional task (e.g., exploration), or exploited by an assisting human co-operator. For this latter {\textquoteleft}human-in-the-loop{\textquoteright} case, we propose a multi-master/multi-slave bilateral shared control system providing the co-operator with some suitable force cues informative of the UAV performance. The proposed theoretical framework is extensively validated by means of simulations and experiments with quadrotor UAVs equipped with onboard cameras. Practical limitations, e.g., limited field-of-view, are also considered.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	author = {Antonio Franchi and Carlo Masone and Volker Grabe and Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@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}
}
@article {402,
	title = {Sensor Activation and Radius Adaptation (SARA) in Heterogeneous Sensor Networks},
	journal = {ACM Trans. Sen. Netw.},
	volume = {8},
	year = {2012},
	keywords = {Area coverage, heterogeneous devices, variable radii, wireless sensor networks},
	issn = {1550-4859},
	doi = {10.1145/2240092.2240098},
	url = {https://doi.org/10.1145/2240092.2240098},
	author = {N. Bartolini and Calamoneri, Tiziana and La Porta, Tom and Petrioli, Chiara and Silvestri, Simone}
}
@article {139,
	title = {Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.},
	journal = {IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform},
	volume = {19},
	year = {2012},
	month = {09/2012},
	pages = {57-68},
	abstract = {In this paper, we present a complete control framework and associated experimental testbed for the bilateral shared control of a group of quadrotor UAVs. This control architecture is applicable to any task and allows to integrate: i) a decentralized topological motion control (responsible for the mutual interactions in the UAV formation), ii) a human assistance module (allowing human intervention, whenever needed, on some aspects of the UAV group behavior), and iii) a force-feedback possibility (increasing the telepresence of the human assistants by providing suitable haptic cues informative of the UAV behavior). We will show, as worked-out case studies, how to specialize the topological motion controller to the relevant cases of constant, unconstrained and connected group topologies, and how to let a human operator intervening at the level of single UAVs or of the whole group dynamics. A detailed description of the experimental testbed is also provided with emphasis on the quadrotor UAV hardware and software architectures. Finally, the versatility of the proposed framework is demonstrated by means of experiments with real UAVs. Although quadrotors are used as actual robotic platforms, the proposed framework can be straightforwardly extended to many different kinds of UAVs with similar motion characteristics.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Middleware for robotics, Motion control of multiple robots, Multi-robot systems, UAV hardware platforms},
	author = {Antonio Franchi and Cristian Secchi and Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {46,
	title = {The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments},
	booktitle = {Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)},
	year = {2012},
	address = {College Station, US},
	abstract = {The goal of the paper is to present the foreseen research activity of the European project {\textquoteleft}{\textquoteleft}SHERPA{\textquoteright}{\textquoteright} whose activities will start officially on February 1th 2013. The goal of SHERPA is to develop a mixed ground and aerial robotic platform to support search and rescue activities in a real-world hostile environment, like the alpine scenario that is specifically targeted in the project. Looking into the technological platform and the alpine rescuing scenario, we plan to address a number of research topics about cognition and control. What makes the project potentially very rich from a scientific viewpoint is the heterogeneity and the capabilities to be owned by the different actors of the SHERPA system: the human rescuer is the {\textquoteleft}{\textquoteleft}busy genius{\textquoteright}{\textquoteright}, working in team with the ground vehicle, as the {\textquoteleft}{\textquoteleft}intelligent donkey{\textquoteright}{\textquoteright}, and with the aerial platforms, i.e. the {\textquoteleft}{\textquoteleft}trained wasps{\textquoteright}{\textquoteright} and {\textquoteleft}{\textquoteleft}patrolling hawks{\textquoteright}{\textquoteright}. Indeed, the research activity focuses on how the {\textquoteleft}{\textquoteleft}busy genius{\textquoteright}{\textquoteright} and the {\textquoteleft}{\textquoteleft}SHERPA animals{\textquoteright}{\textquoteright} interact and collaborate with each other, with their own features and capabilities, toward the achievement of a common goal.},
	keywords = {alpine environments, autonomous aerial vehicles, busy genius, Cognitive Systems, European project, Ground and Aerial Robotics, ground-aerial robots, human rescuer, intelligent donkey, patrolling hawks, real-world hostile environment, rescuing activities, Robust Control, Search and Rescue, search and rescue activities, SHERPA project, smart collaboration, telerobotics, trained wasps},
	doi = {10.1109/SSRR.2012.6523905},
	author = {Marconi, L. and Melchiorri, C. and Beetz, M. and Pangercic, D. and Siegwart, R. and Leutenegger, S. and Carloni, R. and Stramigioli, S. and Bruyninckx, H. and Doherty, P. and Kleiner, A. and Lippiello, V. and Finzi, A. and Siciliano, B. and Sala, A. and Tomatis, N.}
}
@conference {nair2012swarm,
	title = {Swarm aggregation using artificial potential field and fuzzy sliding mode control with adaptive tuning technique},
	booktitle = {American Control Conference (ACC), 2012},
	year = {2012},
	pages = {6184{\textendash}6189},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Nair, Ranjith Ravindranathan and Behera, Laxmidhar}
}
@article {403,
	title = {Autonomous Deployment of Heterogeneous Mobile Sensors},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {10},
	year = {2011},
	pages = {753-766},
	author = {N. Bartolini and T. Calamoneri and T. F. La Porta and S. Silvestri}
}
@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.}
}
@article {179,
	title = {A Generic Framework for Distributed Multirobot Cooperation},
	journal = {Journal of Intelligent and Robotic Systems},
	volume = {63},
	year = {2011},
	pages = {323-358},
	author = {Sanem Sariel-Talay and Tucker R. Balch and Nadia Erdogan}
}
@conference {ravindranathan2011multi,
	title = {Multi-Agent Formation Control using Adaptive Fuzzy Sliding Mode Control},
	booktitle = {International UKIERI workshop on Brain computer Interface and assistive robotics, July 2011,University of Ulster, UK.},
	year = {2011},
	author = {Ravindranathan Nair, Ranjith and Behera, Laxmidhar}
}
@conference {405,
	title = {Autonomous deployment of heterogeneous mobile sensors},
	booktitle = {2009 17th IEEE International Conference on Network Protocols},
	year = {2009},
	author = {N. Bartolini and T. Calamoneri and T. La Porta and A. Massini and S. Silvestri}
}
@article {180,
	title = {Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution},
	journal = {Mechatronics, IEEE/ASME Transactions on},
	volume = {14},
	year = {2009},
	pages = {198-206},
	keywords = {Distributed multirobot task allocation, dynamic task selection scheme, incremental task allocation, incremental task selection, mobile robots, Multi-robot systems, multiple traveling robot problem, multiple traveling robot problem (MTRP), NP-hard multiple traveling salesman problem, path planning, priority-based rough schedules, Robust Control, robust execution, robustness, travelling salesman problems},
	issn = {1083-4435},
	doi = {10.1109/TMECH.2009.2014157},
	author = {Sanem Sariel-Talay and Tucker R. Balch and Nadia Erdogan}
}
@article {181,
	title = {Naval Mine Countermeasure Missions},
	journal = {Robotics Automation Magazine, IEEE},
	volume = {15},
	year = {2008},
	pages = {45-52},
	keywords = {Analytical models, autonomous underwater vehicles, AUV, communication windows, Delay, DEMiR-CF framework, distributed incremental multirobot task selection scheme, Land vehicles, mobile robots, Multi-robot systems, multirobot-cooperation framework, naval engineering, naval mine countermeasure missions, online dynamic task allocation system, Performance analysis, remotely operated vehicles, scheduling, Sea floor, Sonar detection, task execution, task scheduling, undersea operations, Underwater communication, underwater vehicles, unmanned aerial vehicles},
	issn = {1070-9932},
	doi = {10.1109/M-RA.2007.914920},
	author = {Sanem Sariel and Tucker Balch and Nadia Erdogan}
}
@conference {184,
	title = {Incremental multi-robot task selection for resource constrained and interrelated tasks},
	booktitle = {Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	keywords = {coordinated task selection problem, Intelligent robots, interrelated tasks, Multi-robot systems, multi-robot task selection, Notice of Violation, Performance evaluation, resource constrained tasks, Resource management, Robot kinematics, Robot sensing systems, Robotics and automation, Runtime, scheduling, USA Councils},
	doi = {10.1109/IROS.2007.4399519},
	author = {Sanem Sariel and Tucker Balch and Nadia Erdogan}
}
@inbook {182,
	title = {A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {187-196},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch},
	editor = {Gini, Maria and Voyles, Richard}
}
@conference {186,
	title = {Efficient Bids on Task Allocation for Multi-Robot Exploration},
	booktitle = {Proceedings of The 19th International Florida Artificial Intelligence Research Society Conference (FLAIRS)},
	year = {2006},
	author = {Sanem Sariel and Tucker Balch}
}
@inbook {183,
	title = {Empirical Evaluation of Auction-Based Coordination of AUVs in a Realistic Simulated Mine Countermeasure Task},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {197-206},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch and Jason Stack},
	editor = {Gini, Maria and Voyles, Richard}
}
@conference {185,
	title = {Robust Multi-Robot Cooperation Through Dynamic Task Allocation and Precaution Routines},
	booktitle = {The 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
	year = {2006},
	address = {Setubal, Portugal},
	author = {Sanem Sariel and Tucker Balch}
}
@conference {187,
	title = {Real Time Auction Based Allocation of Tasks for Multi-Robot Exploration Problem in Dynamic Environments},
	booktitle = {Integrating Planning into Scheduling: Papers from the 2005 AAAI Workshop, ed. Mark Boddy, Amedeo Cesta, and Stephen F. Smith, American Association for Artificial Intelligence (AAAI)},
	year = {2005},
	author = {Sanem Sariel and Tucker Balch}
}
