@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 {qianreinforcement,
	title = {Reinforcement-Learning-Based Finite Time Fault Tolerant Control for a Manipulator With Actuator Faults....................},
	year = {Submitted},
	author = {Qian, Y and Miao, Z and Zhou, J and Zhu, X and Kuppusamy, S and Yu, SS and Trinh, H and Venkata, SSO and Parasuraman, R and Pidaparti, R and others}
}
@article {kurrasensing,
	title = {Sensing and Evaluation of Bird Comfort Using Internet of Things and Machine Learning},
	year = {Submitted},
	author = {Kurra, Naveen}
}
@conference {gkasieniec2025brief,
	title = {Brief Announcement: Anonymous Distributed Localisation via Spatial Population Protocols},
	booktitle = {4th Symposium on Algorithmic Foundations of Dynamic Networks (SAND 2025)},
	year = {2025},
	pages = {19{\textendash}1},
	publisher = {Schloss Dagstuhl{\textendash}Leibniz-Zentrum f{\"u}r Informatik},
	organization = {Schloss Dagstuhl{\textendash}Leibniz-Zentrum f{\"u}r Informatik},
	author = {G{\k a}sieniec, Leszek and Kuszner, {\L}ukasz and Latif, Ehsan and Parasuraman, Ramviyas and Spirakis, Paul and Stachowiak, Grzegorz}
}
@article {gkasieniec2024anonymous,
	title = {Anonymous distributed localisation via spatial population protocols},
	year = {2024},
	author = {G{\k a}sieniec, Leszek and Kuszner, {\L}ukasz and Latif, Ehsan and Parasuraman, Ramviyas and Spirakis, Paul and Stachowiak, Grzegorz}
}
@article {468,
	title = {Multi-robot search for a stationary object placed in a known environment with a combination of GRASP and VND},
	journal = {International Transactions in Operational Research},
	volume = {29},
	year = {2022},
	pages = {805-836},
	doi = {10.1111/itor.12794},
	url = {https://onlinelibrary.wiley.com/doi/abs/10.1111/itor.12794},
	author = {Kulich, Miroslav and P{\v r}eu{\v c}il, Libor}
}
@article {471,
	title = {Self-Stabilizing Self-Assembly},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	pages = {9763-9769},
	doi = {10.1109/LRA.2022.3191795},
	author = {J{\'\i}lek, Martin and Str{\'a}nsk{\'a}, Kate{\v r}ina and Somr, Michael and Kulich, Miroslav and Zeman, Jan and P{\v r}eu{\v c}il, Libor}
}
@article {469,
	title = {Towards a Passive Self-Assembling Macroscale Multi-Robot System},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {7293-7300},
	doi = {10.1109/LRA.2021.3096748},
	author = {J{\'\i}lek, Martin and Somr, Michael and Kulich, Miroslav and Zeman, Jan and P{\v r}eu{\v c}il, Libor}
}
@article {470,
	title = {Towards a Passive Self-Assembling Macroscale Multi-Robot System},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {7293-7300},
	doi = {10.1109/LRA.2021.3096748},
	author = {J{\'\i}lek, Martin and Somr, Michael and Kulich, Miroslav and Zeman, Jan}
}
@conference {kannan2020material,
	title = {Material mapping in unknown environments using tapping sound},
	booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2020},
	pages = {4855{\textendash}4861},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Kannan, Shyam Sundar and Jo, Wonse and Parasuraman, Ramviyas and Min, Byung-Cheol}
}
@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}
}
@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 {kim2019soft,
	title = {Soft-packaged sensory glove system for human-like natural interaction and control of prosthetic hands},
	journal = {NPG Asia Materials},
	volume = {11},
	number = {1},
	year = {2019},
	pages = {43},
	publisher = {Nature Publishing Group UK London},
	author = {Kim, Min Ku and Parasuraman, Ramviyas Nattanmai and Wang, Liu and Park, Yeonsoo and Kim, Bongjoong and Lee, Seung Jun and Lu, Nanshu and Min, Byung-Cheol and Lee, Chi Hwan}
}
@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 {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}
}
@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}
}
@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 {375,
	title = {Multi-Agent Path Finding with Deadlines},
	booktitle = {International Joint Conference on Artificial Intelligence (IJCAI)},
	year = {2018},
	keywords = {conference},
	author = {Hang Ma and Glenn Wagner and Ariel Felner and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig}
}
@conference {376,
	title = {Multi-Agent Path Finding with Deadlines: Preliminary Results},
	booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2018},
	author = {Hang Ma and Glenn Wagner and Ariel Felner and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig}
}
@article {parasuraman2018multipoint,
	title = {Multipoint Rendezvous in Multirobot Systems},
	journal = {IEEE Transactions on Cybernetics},
	year = {2018},
	publisher = {IEEE},
	author = {Parasuraman, Ramviyas and Kim, Jonghoek and Luo, Shaocheng and Min, Byung-Cheol}
}
@conference {417,
	title = {Multi-robot Dubins Coverage with Autonomous Surface Vehicles},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	url = {https://doi.org/10.1109/ICRA.2018.8460661},
	author = {Nare Karapetyan and Jason Moulton and Jeremy S. Lewis and Quattrini~Li, Alberto and Jason M. O{\textquoteright}Kane and Ioannis Rekleitis}
}
@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}
}
@article {378,
	title = {AI Buzzwords Explained: Multi-Agent Path Finding (MAPF)},
	journal = {AI Matters},
	volume = {3},
	year = {2017},
	pages = {15{\textendash}19},
	keywords = {journal},
	author = {Hang Ma and Sven Koenig}
}
@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 {381,
	title = {Feasibility Study: Moving Non-Homogeneous Teams in Congested Video Game Environments},
	booktitle = {AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment (AIIDE)},
	year = {2017},
	keywords = {conference},
	author = {Hang Ma and Jingxing Yang and Liron Cohen and T. K. Satish Kumar and Sven Koenig}
}
@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 {380,
	title = {Lifelong Multi-Agent Path Finding for Online Pickup and Delivery Tasks},
	booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2017},
	keywords = {conference},
	author = {Hang Ma and Jiaoyang Li and T. K. Satish Kumar and Sven Koenig}
}
@conference {379,
	title = {Multi-Agent Path Finding with Delay Probabilities},
	booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
	year = {2017},
	keywords = {conference},
	author = {Hang Ma and T. K. Satish Kumar and Sven Koenig}
}
@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 {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}
}
@conference {382,
	title = {Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem},
	booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
	year = {2016},
	keywords = {conference},
	author = {Hang Ma and Craig Tovey and Guni Sharon and T. K. Satish Kumar and Sven Koenig}
}
@conference {383,
	title = {Optimal Target Assignment and Path Finding for Teams of Agents},
	booktitle = {International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2016},
	keywords = {conference},
	author = {Hang Ma and Sven Koenig}
}
@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 {385,
	title = {Planning, Scheduling and Monitoring for Airport Surface Operations},
	booktitle = {AAAI-16 Workshop on Planning for Hybrid Systems (PlanHS)},
	year = {2016},
	keywords = {workshop},
	author = {Robert Morris and Corina Pasareanu and Kasper Luckow and Waqar Malik and Hang Ma and T. K. Satish Kumar and Sven Koenig}
}
@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}
}
@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 {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}
}
@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}
}
@article {148,
	title = {Occlusion-Based Cooperative Transport with a Swarm of Miniature Mobile Robots},
	journal = {IEEE Transactions on Robotics},
	volume = {31},
	year = {2015},
	pages = {307{\textendash}321},
	keywords = {cooperation without communication, cooperative transport, e-puck, occlusion, swarm robotics},
	doi = {10.1109/TRO.2015.2400731},
	author = {Chen, Jianing and Gauci, Melvin and Li, Wei and Kolling, A. and Gross, Roderich}
}
@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}
}
@conference {parasuraman2014fast,
	title = {A Fast Radio Signal Strength Prediction Algorithm for Mobile Robots in Unknown Environments},
	booktitle = {Communicationaware Robotics: New Tools for Multi-Robot Networks, Autonomous Vehicles, and Localization (CarNet) workshop, Robotics: Science and Systems Conference},
	year = {2014},
	author = {Parasuraman, Ramviyas and Molinari, Luca and Di Castro, Mario and Kershaw, Keith and Masi, Alessandro}
}
@conference {parasuraman2014model,
	title = {Model Based On-Line Energy Prediction System for Semi-Autonomous Mobile Robots},
	booktitle = {International Conference on Intelligent Systems Modelling \& Simulation (ISMS), Langkawi, Malaysia},
	volume = {5},
	number = {ISBN 978-1-4799-3857-5},
	year = {2014},
	pages = {411{\textendash}416},
	publisher = {IEEE CPS},
	organization = {IEEE CPS},
	author = {Parasuraman, Ramviyas and Pagala, Prithvi and Kershaw, Keith and Ferre, Manuel}
}
@article {parasuraman2014multi,
	title = {A multi-sensor RSS spatial sensing-based robust stochastic optimization algorithm for enhanced wireless tethering},
	journal = {Sensors},
	volume = {14},
	number = {12},
	year = {2014},
	pages = {23970{\textendash}24003},
	publisher = {MDPI},
	author = {Parasuraman, Ramviyas and Fabry, Thomas and Molinari, Luca and Kershaw, Keith and Di Castro, Mario and Masi, Alessandro and Ferre, Manuel}
}
@conference {37,
	title = {Coverage search in 3D},
	booktitle = {Proc. of the {IEEE} Int. Workshop on Safety, Security and Rescue Robotics {(SSRR)},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Linkoeping, Sweden},
	abstract = {Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental problem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.},
	keywords = {3D environments, coverage search, Educational institutions, execution time, household robots, image sequences, inspection robots, leaking pipelines search, objects search, path planning, Planning, rescue robots, Robot sensing systems, robot vision, robotic applications, schedule computation, Search problems, sensor, service robots, solid modelling, survivors search, Three-dimensional displays, Traveling salesman problems, view point sequences},
	doi = {10.1109/SSRR.2013.6719340},
	author = {Dornhege, C. and Kleiner, A. and Kolling, A.}
}
@conference {36,
	title = {Coverage search in 3D},
	year = {2013},
	address = {Linkoeping, Sweden},
	abstract = {Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental problem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.},
	keywords = {3D environments, coverage search, Educational institutions, execution time, household robots, image sequences, inspection robots, leaking pipelines search, objects search, path planning, Planning, rescue robots, Robot sensing systems, robot vision, robotic applications, schedule computation, Search problems, sensor, service robots, solid modelling, survivors search, Three-dimensional displays, Traveling salesman problems, view point sequences},
	doi = {10.1109/SSRR.2013.6719340},
	author = {Dornhege, C. and Kleiner, A. and Kolling, A.}
}
@article {parasuraman2013experimental,
	title = {Experimental investigation of radio signal propagation in scientific facilities for telerobotic applications},
	journal = {International Journal of Advanced Robotic Systems},
	volume = {10},
	number = {10},
	year = {2013},
	pages = {364},
	publisher = {SAGE Publications Sage UK: London, England},
	author = {Parasuraman, Ramviyas and Kershaw, Keith and Ferre, Manuel}
}
@conference {39,
	title = {Fast Guaranteed Search With Unmanned Aerial Vehicles},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2013},
	abstract = {In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones.},
	keywords = {AR.Drone 2.0, autonomous aerial vehicles, Delays, fast guaranteed search, Multi-robot systems, Robot kinematics, Robot sensing systems, search problem, Search problems, search strategies, sensors, Surveillance, UAV sensors, unmanned aerial vehicles},
	doi = {10.1109/IROS.2013.6697229},
	author = {Kolling, A. and Kleiner, A. and Rudol, P.}
}
@conference {41,
	title = {Fast Guaranteed Search With Unmanned Aerial Vehicles},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	abstract = {In this paper we consider the problem of searching for an arbitrarily smart and fast evader in a large environment with a team of unmanned aerial vehicles (UAVs) while providing guarantees of detection. Our emphasis is on the fast execution of efficient search strategies that minimize the number of UAVs and the search time. We present the first approach for computing fast search strategies utilizing additional searchers to speed up the execution time and thereby enabling large scale UAV search. In order to scale to very large environments when using UAVs one would either have to overcome the energy limitations of UAVs or pay the cost of utilizing additional UAVs to speed up the search. Our approach is based on coordinating UAVs on sweep lines, covered by the UAV sensors, that move simultaneously through an environment. We present some simulation results that show a significant reduction in execution time when using multiple UAVs and a demonstration of a real system with three ARDrones.},
	keywords = {autonomous aerial vehicles;multi-robot systems;search problems;sensors;AR.Drone 2.0;UAV sensors;fast guaranteed search;search problem;search strategies;unmanned aerial vehicles;Delays;Robot kinematics;Robot sensing systems;Search problems;Surveillance},
	doi = {10.1109/IROS.2013.6697229},
	author = {Kolling, A. and Kleiner, A. and Rudol, P}
}
@conference {38,
	title = {Fast task-sequence allocation for heterogeneous robot teams with a human in the loop},
	booktitle = {Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems {(IROS)},
	year = {2013},
	abstract = {Efficient task allocation with timing constraints to a team of possibly heterogeneous robots is a challenging problem with application, e.g., in search and rescue. In this paper a mixed-integer linear programming (MILP) approach is proposed for assigning heterogeneous robot teams to the simultaneous completion of sequences of tasks with specific requirements such as completion deadlines. For this purpose our approach efficiently combines the strength of state of the art Mixed Integer Linear Programming (MILP) solvers with human expertise in mission scheduling. We experimentally show that simple and intuitive inputs by a human user have substantial impact on both computation time and quality of the solution. The presented approach can in principle be applied to quite general missions for robot teams with human supervision.},
	keywords = {computation time, Computational modeling, fast task sequence allocation, heterogeneous robot teams, heterogeneous robots, human in the loop, human supervision, human user, integer programming, linear programming, Mathematical model, MILP solvers, mission scheduling, mixed integer linear programming, Multi-robot systems, Resource management, Robot kinematics, Schedules, task allocation},
	doi = {10.1109/IROS.2013.6696570},
	author = {Petersen, K. and Kleiner, A. and Von Stryk, O.}
}
@article {45,
	title = {A Frontier-Void-Based Approach for Autonomous Exploration in 3D},
	journal = {Advanced Robotics},
	volume = {27},
	year = {2013},
	pages = {459{\textendash}468},
	abstract = {We consider the problem of an autonomous robot searching for objects in unknown 3d space. Similar to the well known frontier-based exploration in 2d, the problem is to determine a minimal sequence of sensor viewpoints until the entire search space has been explored. We introduce a novel approach that combines the two concepts of voids, which are unexplored volumes in 3d, and frontiers, which are regions on the boundary between voids and explored space. Our approach has been evaluated on a mobile platform using a 5-DOF manipulator searching for victims in a simulated USAR setup. The results indicate the real-world capability and search efficiency of the proposed method.},
	author = {C. Dornhege and A. Kleiner}
}
@conference {44,
	title = {Guaranteed search with large teams of unmanned aerial vehicles},
	booktitle = {Proc. of the {IEEE} Int. Conf. on Robotics and Automation (ICRA)},
	year = {2013},
	address = {Karlsruhe, Germany},
	abstract = {We consider the problem of detecting moving and evading targets by a team of coordinated unmanned aerial vehicles (UAVs) in large and complex 2D and 2.5D environments. Our approach is based on the coordination of 2D sweep lines that move through the environment to clear it from all contamination, representing the possibility of a target being located in an area, and thereby detecting all targets. The trajectories of the UAVs are implicitly given by the motion of these sweep lines and their costs are determined by the number of UAVs needed. A novel algorithm that computes low cost coordination strategies of the UAV sweep lines in simply connected polygonal environments is presented. The resulting strategies are then converted to strategies clearing multiply connected and 2.5D environments. Experiments on real and artificial elevation maps with complex visibility constraints are presented and demonstrate the feasibility and scalability of the approach. The algorithms used for the experiments are made available on a public repository.},
	keywords = {2D environment, 2D sweep lines, autonomous aerial vehicles, collision avoidance, Contamination, coordinated unmanned aerial vehicle team, guaranteed search, helicopters, low cost coordination strategies, Multi-robot systems, multiply-connected 2.5D environment, public repository, quadrotors, robot operating system, Robot sensing systems, ROS framework, Search problems, Shape, simply-connected polygonal environment, sweep line motion, Trajectory, trajectory computing, trajectory control, UAV trajectory, unmanned aerial vehicles},
	doi = {10.1109/ICRA.2013.6630990},
	author = {Kleiner, A. and Kolling, A.}
}
@article {48,
	title = {Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain},
	journal = {JAAMAS},
	volume = {26},
	year = {2013},
	pages = {1{\textendash}36},
	abstract = {Searching for moving targets in large environments is a challenging task that is relevant in several problem domains, such as capturing an invader in a camp, guarding security facilities, and searching for victims in large-scale search and rescue scenarios. The guaranteed search problem is to coordinate the search of a team of agents to guarantee the discovery of all targets. In this paper we present a self-contained solution to this problem in 2.5D real-world domains represented by digital elevation models (DEMs). We introduce hierarchical sampling on DEMs for selecting heuristically the close to minimal set of locations from which the entire surface of the DEM can be guarded. Locations are utilized to form a search graph on which search strategies for mobile agents are computed. For these strategies schedules are derived which include agent paths that are directly executable in the terrain. Presented experimental results demonstrate the performance of the method. The practical feasibility of our approach has been validated during a field experiment at the Gascola robot training site where teams of humans equipped with iPads successfully searched for adversarial and omniscient evaders. The field demonstration is the largest-scale implementation of a guaranteed search algorithm to date.},
	keywords = {Exploration, guaranteed search, HRI, Human{\textendash}robot-interaction, Moving target search, path planning, pursuit-evasion, task allocation},
	issn = {1387-2532},
	doi = {10.1007/s10458-011-9180-7},
	url = {http://dx.doi.org/10.1007/s10458-011-9180-7},
	author = {Kleiner, A. and Kolling, A. and Lewis, M. and Sycara, K.}
}
@conference {42,
	title = {Multi-UAV Motion Planning for Guaranteed Search},
	booktitle = {Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013)},
	year = {2013},
	address = {St. Paul, MN, USA},
	abstract = {We consider the problem of detecting all moving and evading targets in 2.5D environments with teams of UAVs. Targets are assumed to be fast and omniscient while UAVs are only equipped with limited range detection sensors and have no prior knowledge about the location of targets. We present an algorithm that, given an elevation map of the environment, computes synchronized trajectories for the UAVs to guarantee the detection of all targets. The approach is based on coordinating the motion of multiple UAVs on sweep lines to clear the environment from contamination, which represents the possibility of an undetected target being located in an area. The goal is to compute trajectories that minimize the number of UAVs needed to execute the guaranteed search. This is achieved by converting 2D strategies, computed for a polygonal representation of the environment, to 2.5D strategies. We present methods for this conversion and consider cost of motion and visibility constraints. Experimental results demonstrate feasibility and scalability of the approach. Experiments are carried out on real and artificial elevation maps and provide the basis for future deployments of large teams of real UAVs for guaranteed search.},
	keywords = {guaranteed search, multi-robot, multi-UAV, pursuit-evasion},
	isbn = {978-1-4503-1993-5},
	url = {http://dl.acm.org/citation.cfm?id=2484920.2484936},
	author = {A. Kolling and A. Kleiner}
}
@conference {43,
	title = {RMASBench: Benchmarking Dynamic Multi-Agent Coordination in Urban Search and Rescue},
	booktitle = {Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013)},
	year = {2013},
	abstract = {We propose RMASBench, a new benchmarking tool based on the RoboCup Rescue Agent simulation system, to easily compare coordination approaches in a dynamic rescue scenario. In particular, we offer simple interfaces to plug-in coordination algorithms without the need for implementing and tuning low-level agents behaviors. Moreover, we add to the realism of the simulation by providing a large scale crowd simulator, which exploits GPUs parallel architecture, to simulate the behavior of thousands of agents in real time. Finally, we focus on a specific coordination problem where fire fighters must combat fires and prevent them from spreading across the city. We formalize this problem as a Distributed Constraint Optimization Problem and we compare two state-of-the art solution techniques: DSA and MaxSum. We perform an extensive empirical evaluation of such techniques considering several standard measures for performance (e.g. damages to buildings) and coordination overhead (e.g., message exchanged and non concurrent constraint checks). Our results provide interesting insights on limitations and benefits of DSA and MaxSum in our rescue scenario and demonstrate that RMASBench offers powerful tools to compare coordination algorithms in a dynamic environment.},
	keywords = {agent coordination, agent simulation, DCOP, performance metrics},
	isbn = {978-1-4503-1993-5},
	url = {http://dl.acm.org/citation.cfm?id=2484920.2485139},
	author = {A. Kleiner and A. Farinelli and S. Ramchurn and B. Shi and F. Maffioletti and R. Reffato}
}
@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 {parasuraman2013spatial,
	title = {Spatial sampling methods for improved communication for wireless relay robots},
	booktitle = {2013 International Conference on Connected Vehicles and Expo (ICCVE)},
	year = {2013},
	pages = {874{\textendash}880},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Parasuraman, Ramviyas and Fabry, Thomas and Kershaw, Keith and Ferre, Manuel}
}
@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 {parasuraman2012energy,
	title = {Energy management module for mobile robots in hostile environments},
	booktitle = {Conference Towards Autonomous Robotic Systems},
	year = {2012},
	pages = {430{\textendash}431},
	publisher = {Springer Berlin Heidelberg Berlin, Heidelberg},
	organization = {Springer Berlin Heidelberg Berlin, Heidelberg},
	author = {Parasuraman, Ramviyas and Pagala, Prithvi and Kershaw, Keith and Ferre, Manuel}
}
@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 {47,
	title = {ARMO: Adaptive Road Map Optimization for Large Robot Teams},
	booktitle = {IROS},
	year = {2011},
	address = {San Fransisco, USA},
	abstract = {Autonomous robot teams that simultaneously dispatch transportation tasks are playing more and more an important role in present logistic centers and manufacturing plants. In this paper we consider the problem of robot motion planning for large robot teams in the industrial domain. We present adaptive road map optimization (ARMO) that is capable of adapting the road map in real time whenever the environment has changed. Based on linear programming, ARMO computes an optimal road map according to current environmental constraints (including human whereabouts) and the current demand for transportation tasks from loading stations in the plant. For detecting dynamic changes, the environment is describe by a grid map augmented with a hidden Markov model (HMM). We show experimentally that ARMO outperforms decoupled planning in terms of computation time and time needed for task completion.},
	isbn = {978-1-61284-454-1},
	doi = {10.1109/IROS.2011.6048339},
	author = {A. Kleiner and D. Sun and D. Meyer-Delius}
}
@conference {49,
	title = {A Mechanism for Dynamic Ride Sharing based on Parallel Auctions},
	booktitle = {Proc. of the 22th International Joint Conference on Artificial Intelligence (IJCAI)},
	year = {2011},
	address = {Barcelona, Spain},
	abstract = {Car pollution is one of the major causes of green- house emissions, and traffic congestion is rapidly becoming a social plague. Dynamic Ride Sharing (DRS) systems have the potential to mitigate this problem by computing plans for car drivers, e.g. commuters, allowing them to share their rides. Ex- isting efforts in DRS are suffering from the problem that participants are abandoning the system after repeatedly failing to get a shared ride. In this paper we present an incentive compatible DRS solution based on auctions. While existing DRS systems are mainly focusing on fixed assignments that minimize the totally travelled distance, the presented approach is adaptive to individual preferences of the participants. Furthermore, our system allows to tradeoff the minimization of Vehicle Kilometers Travelled (VKT) with the overall probability of successful ride-shares, which is an important feature when bootstrapping the system. To the best of our knowledge, we are the first to present a DRS solution based on auctions using a sealed-bid second price scheme.},
	isbn = {978-1-57735-516-8},
	author = {Kleiner, A. and Nebel, B. and Ziparo, V.}
}
@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 {174,
	title = {Auction-Based Multi-Robot Routing},
	booktitle = {Proceedings of Robotics: Science and Systems},
	year = {2005},
	month = {June},
	address = {Cambridge, USA},
	author = {Michail G. Lagoudakis and Evangelos Markakis and David Kempe and Pinar Keskinocak and Anton Kleywegt and Sven Koenig and Craig Tovey and Adam Meyerson and Sonal Jain}
}
