@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 {pandey2025freshr,
	title = {FRESHR-GSI: A Generalized Safety Model and Evaluation Framework for Mobile Robots in Multi-Human Environments},
	journal = {arXiv preprint arXiv:2501.03467},
	year = {2025},
	author = {Pandey, Pranav and Parasuraman, Ramviyas and Doshi, Prashant}
}
@conference {Tu2022,
	title = {FreeSN: A Freeform Strut-node Structured Modular Self-reconfigurable Robot - Design and Implementation},
	booktitle = {2022 International Conference on Robotics and Automation (ICRA)},
	year = {2022},
	pages = {4239{\textendash}4245},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Philadelphia, PA, USA},
	abstract = {This paper proposes a novel freeform strut-node structured modular self-reconfigurable robot (MSRR) called FreeSN, consisting of strut and node modules. A node module is mainly a low-carbon steel spherical shell. A strut module contains two freeform connectors, which provide strong magnetic connections and flexible spherical motions. The FreeSN system shares the benefits of freeform connection and strut-node structures. The freeform connection brings good adaptability to the environment. The triangle substructures inside the system configuration significantly improve the structural stability. The parallel execution of module motions can superpose the module capabilities and makes the system more scalable. The modules can combine these robot features by selecting the system configuration and better fit different circumstances and tasks. Four demonstrations, including assembly, obstacle crossing, transportation, and object manipulation, are designed to show the capabilities of the FreeSN system in different aspects. The results show the great performance and versatility of this MSRR system.},
	keywords = {Automation, Connectors, Robots, Steel, Structural engineering, Task analysis, Transportation},
	isbn = {978-1-7281-9682-4},
	doi = {10.1109/ICRA46639.2022.9811583},
	author = {Yuxiao Tu and Guanqi Liang and Tin Lun Lam}
}
@conference {Liang2020,
	title = {FreeBOT: A Freeform Modular Self-reconfigurable Robot with Arbitrary Connection Point - Design and Implementation},
	booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2020},
	pages = {6506{\textendash}6513},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Las Vegas, NV, USA},
	abstract = {This paper proposes a novel modular selfreconfigurable robot (MSRR) "FreeBOT", which can be connected freely at any point on other robots. FreeBOT is mainly composed of two parts: a spherical ferromagnetic shell and an internal magnet. The connection between the modules is genderless and instant, since the internal magnet can freely attract other FreeBOT spherical ferromagnetic shells, and not need to be precisely aligned with the specified connector. This connection method has fewer physical constraints, so the FreeBOT system can be extended to more configurations to meet more functional requirements. FreeBOT can accomplish multiple tasks although it only has two motors: module independent movement, connector management and system reconfiguration. FreeBOT can move independently on the plane, and even climb on ferromagnetic walls; a group of FreeBOTs can traverse complex terrain. Numerous experiments have been conducted to test its function, which shows that the FreeBOT system has great potential to realize a freeform robotic system.},
	keywords = {Connectors, Intelligent robots, Task analysis},
	isbn = {978-1-7281-6213-3},
	issn = {2153-0858},
	doi = {10.1109/IROS45743.2020.9341129},
	author = {Guanqi Liang and Haobo Luo and Ming Li and Huihuan Qian and Tin Lun Lam}
}
@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 {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 {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}
}
@article {parasuraman2015few,
	title = {Few common failure cases in mobile robots},
	journal = {arXiv preprint arXiv:1508.03000},
	year = {2015},
	author = {Parasuraman, Ramviyas}
}
@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 {143,
	title = {The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	address = {Hong Kong, China},
	abstract = {The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.},
	keywords = {Aerial Physical Interaction, Aerial Robotics, Bilateral Shared Control of Mobile Robots, Motion control of multiple robots},
	author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo}
}
@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 {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 {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.}
}
@conference {162,
	title = {Formation-based approach for multi-robot cooperative manipulation based on optimal control design},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2013},
	abstract = {Cooperative manipulation, where several robots collaboratively transport an object, poses a great challenge in robotics. In order to avoid object deformations in cooperative manipulation, formation rigidity of the robots is desired. This work proposes a novel linear state feedback controller that combines both optimal goal regulation and a relaxed form of the formation rigidity constraint, exploiting an underlying distributed impedance control scheme. Since the presented control design problem is in a biquadratic LQR-like form, we present an iterative design algorithm to compute the controller. As an intermediate result, an approximated state-space model of an interconnected robot system is derived. The controller design approach is evaluated in a full-scale multi-robot experiment.},
	url = {;},
	author = {D. Sieber and F. Deroo and S. Hirche}
}
@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 {ranjith2012formation,
	title = {Formation Control of Non-holonomic Robots using Artificial Potential Field and Fuzzy Sliding Mode Control with Adaptive Tuning Technique},
	booktitle = {International conference on advances in control and optimization of dynamical systems, IISc Bangalore, India (won 2nd best paper award)},
	year = {2012},
	pages = {1{\textendash}9},
	author = {Ranjith, R and Behera, Laxmidhar}
}
@article {205,
	title = {A Fuzzified Systematic Adjustment of the Robotic Darwinian PSO},
	journal = {Robotics and Autonomous Systems},
	volume = {60},
	year = {2012},
	month = {Dec.},
	pages = {1625-1639},
	author = {Couceiro, M. S. and Machado, J. A. T. and Rocha, R. P. and Ferreira, N. M. F.}
}
