G.  Wagner, Choset, H., and Ayanian, N., ?Subdimensional Expansion and Optimal Task Reassignment?, in AAAI Symposium on Combinatorial Search, Niagara Falls, ON, Canada, 2012.

N.  Ayanian, Kumar, V., and Koditschek, D., ?Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints?, in Robotics Research, vol. 70, C.  Pradalier, Siegwart, R., and Hirzinger, G., Eds. Springer Berlin / Heidelberg, 2011, pp. 625-642.

N.  Ayanian, Kallem, V., and Kumar, V., ?Synthesis of Feedback Controllers for Multiple Aerial Robots with Geometric Constraints?, in Intl Conf Intelligent Robots and Systems, San Francisco, CA, 2011, pp. 3126-3131.

N.  Ayanian, White, P., Halász, A., Yim, M., and Kumar, V., ?Stochastic Control for Self-Assembly of {XB}ots?, in ASME Mechanisms and Robotics Conference, New York, NY, 2008, vol. 2, pp. 1169-1176.