W.  Honig, Kiesel, S., Tinka, A., Durham, J. W., and Ayanian, N., ?Persistent and Robust Execution of MAPF Schedules in Warehouses?, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1125 - 1131, 2019.

N.  Kamra, Kumar, T. K. Satish, and Ayanian, N., ?Combinatorial Problems in Multirobot Battery Exchange Systems?, IEEE Transactions on Automation Science and Engineering, vol. 15, no. 2, pp. 852 - 862, 2018.

J. A.  Tran, Ghosh, P., Gu, Y., Kim, R., D'Souza, D., Ayanian, N., and Krishnamachari, B., ?Intelligent Robotic IoT System (IRIS)Testbed?, in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

M.  Debord, Honig, W., and Ayanian, N., ?Trajectory Planning for Heterogeneous Robot Teams?, in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

W.  Honig, Preiss, J. A., Kumar, T. K. Satish, Sukhatme, G. S., and Ayanian, N., ?Trajectory Planning for Quadrotor Swarms?, IEEE Transactions on Robotics, vol. 34, no. 4, pp. 856 - 869, 2018.

J. A.  Preiss, Honig, W., Sukhatme, G. S., and Ayanian, N., ?Crazyswarm: A large nano-quadcopter swarm?, in 2017 IEEE International Conference on Robotics and Automation (ICRA)2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017.

J. A.  Preiss, Honig, W., Ayanian, N., and Sukhatme, G. S., ?Downwash-aware trajectory planning for large quadrotor teams?, in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017.

W.  Honig and Ayanian, N., ?Flying Multiple UAVs Using ROS?, vol. 707, A.  Koubaa, Ed. Cham: Springer International Publishing, 2017, pp. 83 - 118.

N.  Ayanian, Fitch, R., Franchi, A., and Sabattini, L., ?Multirobot Systems [TC Spotlight]?, IEEE Robotics & Automation Magazine, vol. 24, no. 2, pp. 12 - 16, 2017.

H.  Ma, Honig, W., Cohen, L., Uras, T., Xu, H., Kumar, T. K. Satish, Ayanian, N., and Koenig, S., ?Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems?, IEEE Intelligent Systems, vol. 32, no. 6, pp. 6 - 12, 2017.

W.  Honig, Kumar, T. K. Satish, Cohen, L., Ma, H., Xu, H., Ayanian, N., and Koenig, S., ?Summary: Multi-Agent Path Finding with Kinematic Constraints?, in Twenty-Sixth International Joint Conference on Artificial IntelligenceProceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence, Melbourne, AustraliaCalifornia, 2017.

W.  Honig, Kumar, T. K. Satish, Ma, H., Koenig, S., and Ayanian, N., ?Formation change for robot groups in occluded environments?, in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.

H.  Xu, Kumar, T. K. Satish, Johnke, D., Ayanian, N., and Koenig, S., ?SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks?, in 2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI)2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI), San Jose, CA, USA, 2016.

N.  Kamra and Ayanian, N., ?A mixed integer programming model for timed deliveries in multirobot systems?, in 2015 IEEE International Conference on Automation Science and Engineering (CASE)2015 IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden, 2015.

W.  Honig, Milanes, C., Scaria, L., Phan, T., Bolas, M., and Ayanian, N., ?Mixed reality for robotics?, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

S.  Wang, Krishnamachari, B., and Ayanian, N., ?The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment?, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

C.  Sung, Ayanian, N., and Rus, D., ?Improving the performance of multi-robot systems by task switching?, in 2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.

N.  Ayanian, Kallem, V., and Kumar, V., ?Synthesis of feedback controllers for multiple aerial robots with geometric constraints?, in 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011.

N.  Ayanian and Kumar, V., ?Abstractions and controllers for groups of robots in environments with obstacles?, in 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010.

N.  Ayanian and Kumar, V., ?Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles?, IEEE Transactions on Robotics, vol. 26, no. 5, pp. 878 - 887, 2010.

H.  Kress-Gazit, Ayanian, N., Pappas, G. J., and Kumar, V., ?Recycling controllers?, in 2008 IEEE International Conference on Automation Science and Engineering (CASE 2008)2008 IEEE International Conference on Automation Science and Engineering, Arlington, VA, 2008.