N.  Ayanian, Rus, D., and Kumar, V., ?Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment?, in IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, CA, 2012, pp. 311-316.

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 and Kumar, V., ?Abstractions and Controllers for Groups of Robots in Environments with Obstacles?, in IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 3537 - 3542.

N.  Ayanian and Kumar, V., ?Decentralized feedback controllers for multi-agent teams in environments with obstacles?, IEEE Transactions on Robotics, vol. 26, pp. 878 - 887, 2010.

H.  Kress-Gazit, Ayanian, N., Pappas, G. J., and Kumar, V., ?Recycling controllers?, in IEEE International Conf. on Automation Science and Engineering, Washington, DC, 2008, pp. 772-777.

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.