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 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.