Papers
SWARMS Papers
The papers are classified according to the main project research areas. The indexing is as follows:
- S: System-Theoretic Framework for Swarming
- M: Modeling of Swarms and Swarming Behavior
- A: Analysis of Swarm Formation, Stability and Robustness
- F: Synthesis: Formation and Navigation of Artificial Swarms
- C: Sensing and Communications for Artificial Swarms
- T: Testbeds, Demonstrations and Technology Transition
Please provide a link to a paper!
2008
- Luciano C. A. Pimenta, Nathan Michael, Renato C. Mesquita, Guilherme A. S. Pereira, Vijay Kumar, Control of Swarms Based on Hydrodynamics Models, IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008. Note: submitted F
- Peng Cheng, Vijay Kumar, A Novel Communication-Less Approach to Task Allocation for Multiple Unmanned Aerial Vehicles, IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008. Note: submitted F, C
- Nima Moshtagh, Nathan Michael, A. Jadbabaie, K. Daniilidis, Distributed, Bearing-Only Control Laws for Balanced Circular Formations of Ground Robots, Robotics: Science and Systems, Zurich, Switzerland, June 2008. A, T
- Mac Schwager, Daniela Rus, and Jean-Jacques Slotine, Decentralized, Adaptive Control for Coverage with Networked Robots, International Journal of Robotics Research, 2008. Note: submitted A, F
- Mac Schwager, Francesco Bullo, David Skelly, and Daniela Rus, A Ladybug Exploration Strategy for Distributed Adaptive Coverage Control, IEEE International Conference on Robotics and Automation, Pasadena, May 2008. Note: submitted A, F
- Mac Schwager, Jean-Jacques Slotine, and Daniela Rus, Consensus Learning for Distributed Coverage Control, IEEE International Conference on Robotics and Automation, Pasadena, May 2007. Note: submitted A, F
- J. Fang, A. S. Morse. Multi-Agent Rendezvousing With A Finite Set of Candidate Rendezvous Points, Submitted to 2008 ACC S,M,A
- M. Cao, C. Yu, A. S. Morse, B. D. O. Anderson, S. Dasgupta. Generalized Controller for Directed Triangle Formations, Submitted to 2008 IFAC C,A
- M. Cao, A. S. Morse. Convexification of the Range-Only Station Keeping Problem, Submitted to 2008 ACC A
2007
- Nima Moshtagh, A. Jadbabaie. Distributed Geodesic Control Laws for Flocking of Nonholonomic Agents, IEEE Transactions of Automatic Control, VOL. 52, NO. 4, April 2007. A
- Nima Moshtagh, A. Jadbabaie, K. Daniilidis. Distributed Coordination of Dynamic Rigid Bodies, IEEE Conferences on Decision and Control, New Orleans, MS, Dec. 2007. A
- Michael M. Zavlanos and George J. Pappas. Potential Fields for Maintaining Connectivity of Mobile Networks, IEEE Transactions on Robotics, Vol. 23, No. 4, pp. 812-816, August 2007. A, F
- Michael M. Zavlanos and George J. Pappas. Dynamic Assignment in Distributed Motion Planning with Limited Information, American Control Conference, New York, NY, July 2007. A, F
- Michael M. Zavlanos and George J. Pappas. Sensor-Based Dynamic Assignment in Distributed Motion Planning, IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007. A, F
- Michael M. Zavlanos and George J. Pappas. Distributed Hybrid Control for Multiple Pursuer Multiple Evader Games, 10th International Conference on Hybrid Systems: Computation and Control, Pisa, Italy, April 2007. A, F
- A. A. Julius, M. Zavlanos, S. Boyd, and G. J. Pappas. "Genetic network identification using convex programming." Technical Report, Dept. Computer and Information Sciences, University of Pennsylvania, 2007.S
- S. D. Bopardikar, F. Bullo, and J. P. Hespanha. "Cooperative pursuit with sensing limitations." American Control Conference, New York, July 2007. Note: Submitted F
- S. L. Smith and F. Bullo. "Target assignment for robotic networks: asymptotic performance under limited communication." American Control Conference, New York, July 2007. Note: Submitted. F
- Mac Schwager and Daniela Rus, Data-Driven Identification of Group Dynamics for Motion Prediction and Control, Conference on Field and Service Robotics, Chamonix, July 2007. M
- Mac Schwager, Jean-Jacques Slotine, and Daniela Rus, Decentralized, Adaptive Control for Coverage with Networked Robots, IEEE International Conference on Robotics and Automation, Rome, April 2007. A, F
- F
- S.G. Loizou, V. Kumar, Mixed Initiative Control of Autonomous Vehicles, 2007 IEEE International Conference on Robotics and Automation, Note:submitted F
- M. Cao, A. S. Morse. Station Keeping in the Plane with Range-Only Measurements, In Proceedings of 2007 ACC C,A
- M. Cao, A. S. Morse. Maintaining an Autonomous Agent's Position in a Moving Formation with Range-Only Measurements, In Proceedings of 2007 ECC C,A
- M. Cao, A. S. Morse, C. Yu, B. D. O. Anderson, S. Dasgupta. Controlling a Triangular Formation of Mobile Autonomous Agents, To appear in Proceedings of The 46th IEEE Conference on Decision and Control, 2007 C,A
- S. Berman, A. Halasz, V. Kumar, S. Pratt. Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations, IEEE International Conference on Robotics and Automation (ICRA), 2007, Rome, Italy M,F
- A. Halasz, M. Ani Hsieh, S. Berman, V. Kumar. Dynamic Redistribution of a Swarm of Robots Among Multiple Sites, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2007, San Diego, CA M,A,F
2006
- Michael M. Zavlanos and George J. Pappas, A Dynamical Systems Approach to Weighted Graph Matching, IEEE Conference on Decision and Control, San Diego, CA, December 2006. A
- M
- Mac Schwager, James McLurkin, and Daniela Rus, Distributed Coverage Control with Sensory Feedback for Networked Robots, Robotics: Science and Systems, Philadelphia, August 2006. T
- S.G. Loizou, A. Jadbabaie, Density Functions for Navigation Function Based Systems,, IEEE Transactions on Automatic Control, Note:submitted, 2006 A
- S. Susca, S. Martinez, and F. Bullo. Monitoring Environmental Boundaries with a Robotic Sensor Network. IEEE Transactions on Control Systems Technology, May 2006. Note: Submitted F
- C. Gao, J. Cortes, and F. Bullo. "Notes on Averaging over Acyclic Digraphs and Discrete Coverage Control." Automatica, July 2006. Note: Submitted S
- K. Savla, G. Notarstefano, and F. Bullo. "Maintaining limited-range connectivity among second-order agents." SIAM Journal on Control and Optimization, November 2006. Note: Submitted C
- G. Notarstefano, K. Savla, F. Bullo, and A. Jadbabaie. "Maintaining limited-range connectivity among second-order agents." American Control Conference, Minneapolis, MN, pages 2124-2129, June 2006 C
- C. Gao, F. Bullo, J. Cortes, and A. Jadbabaie. "Notes on averaging over acyclic digraphs and discrete coverage control." IEEE Conf. on Decision and Control, San Diego, CA, December 2006. Note: To appear S
- G. Notarstefano and F. Bullo. "Distributed consensus on enclosing shapes and minimum time rendezvous." IEEE Conf. on Decision and Control, San Diego, CA, December 2006. Note: To appear F
- K. Savla and F. Bullo. "On the time complexity of formation control." Allerton Conference on Communications, Control and Computing, September 2006. Note: To appear A
- S.G. Loizou, A. Jadbabaie, Density Functions for Navigation Function Based Systems, 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006, (To Appear) A
- S.G. Loizou, V. Kumar, Weak Input-to-State Stability Properties for Navigation Function Based Controllers, 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006, (To Appear) (Extended version) A,F
- G. E. Fainekos, S.G. Loizou, G.J. Pappas, Translating temporal logic to controller specifications, 45th IEEE Conference on Decision and Control, San Diego, California, USA, December 2006, (To Appear) S,F
- M. Cao, A. S. Morse, and B. D. O. Anderson. Agreeing Asynchronously in Continuous Time. Submitted to IEEE Transactions on Automatic Control, 2006 S,M,A
- M. Cao, A. S. Morse, and B. D. O. Anderson. Reaching a Consensus in a Dynamically Changing Environment - A Graphical Approach. To appear in SIAM Journal on Control and Optimization, 2006 S,M,A
- M. Cao, A. S. Morse, and B. D. O. Anderson. Reaching a Consensus in a Dynamically Changing Environment - Convergence Rates, Measurement Delays and Asynchronous Events. To appear in SIAM Journal on Control and Optimization, 2006 S,M,A
- M. Cao, B. D. O. Anderson, and A. S. Morse. Sensor Network Localization with Imprecise Distances. Submitted to Systems & Control Letters, 2006 C
- J. Fang, M. Cao, A.S. Morse, B.D.O. Anderson. Localization of Sensor Networks Using Sweeps, Submitted to 45th IEEE Conference on Decision and Control, 2006 S,C
- M. Hsieh and V. Kumar. Pattern Generation with Multiple Robots. Accepted to International Conference on Robotics and Automation (ICRA2006). Orlando, FL. May, 2006 A,F
- J. Lin, A. S. Morse, and B. D. O. Anderson. The Multi-Agent Rendezvous Problem - Part 1 The Synchronous Case. To appear in SIAM Journal on Control and Optimization, 2006 S,M,A
- J. Lin, A. S. Morse, and B. D. O. Anderson. The Multi-Agent Rendezvous Problem - Part 2 The Asynchronous Case. To appear in SIAM Journal on Control and Optimization, 2006 S,M,A
- N. Michael, C. Belta, and V. Kumar. Controlling Three Dimensional Swarms of Robots. In the Proceedings of the IEEE International Conference on Robotics and Automation (ICRA2006). Orlando, FL., pp. 964-969, May, 2006 F
- Nima Moshtagh, A. Jadbabaie, K. Daniilidis . Vision-Based Control Laws for Distributed Flocking of Nonholonomic Agents. International Conference on Robotics and Automation (ICRA2006). Orlando, FL. May, 2006 F
- S. Berman, A. Halasz, V. Kumar, and S. Pratt. Algorithms for the Analysis and Synthesis of a Bio-Inspired Swarm Robotic System. 9th International Conf. on the Simulation of Adaptive Behavior (SAB'06). LNCS 4433, eds. E. Sahin, W. Spears, A. Winfield. pp. 56-70, 2007 M,A,F
- J. Fang, M. Cao, A. S. Morse, B. D. O. Anderson. Sequential Localization of Sensor Networks, Submitted to SIAM Journal on Control and Optimization, December 2006 S,C
2005
- M. Cao, A. S. Morse, and B. D. O. Anderson. Coordination of an Asynchronous Multi-agent System via Averaging. In Proc. of the 16th IFAC World Congress, 2005 S,M
- M. Cao, B. D. O. Anderson, and A. S. Morse. Localization with Imprecise Distance Information in Sensor Networks. In Proc. of the 44th IEEE Conference on Decision and Control, 2005 C
- M. Cao, D. A. Spielman, and A. S. Morse. A Lower Bound on Convergence of a Distributed Network Consensus Algorithm. In Proc. of the 44th IEEE Conference on Decision and Control, 2005 A
- L. Chaimowicz, N. Michael, and V. Kumar. Controlling Swarms of Robots using Interpolated Implicit Functions. In the Proceedings of IEEE International Conference on Robotics and Automation (ICRA2005). Barcelona, Spain, pp. 2487-2492, April, 2005 F
- J. Cortés, S. Martìnez, and F. Bullo. Spatially-Distributed Coverage Optimization and Control with Limited-Range Interactions. ESAIM. Control, Optimisation & Calculus of Variations, 11:691-719, 2005 A,F
- A. Ganguli, S. Susca, S. Martìnez, F. Bullo, and J. Cortés. On collective motion in sensor networks: sample problems and distributed algorithms. IEEE Conf. on Decision and Control, Seville, Spain, December 2005 M,A,F
2004
- Calin Belta and Vijay Kumar, Abstraction and control for groups of robots, IEEE Transactions on Robotics, vol.20, no.5, pp.865-875, 2004 A,F
- J. Cortés, S. Martìnez, T. Karatas, and F. Bullo. Coverage Control for Mobile Sensing Networks. IEEE Transactions on Robotics and Automation, 20(2):243-255, 2004 A,F
2003
- S.G. Loizou H.G. Tanner, V. Kumar, K.J. Kyriakopoulos Closed Loop Motion Planning and Control for Mobile Robots in Uncertain Environments, 42nd IEEE Conference on Decision and Control, 2003 F
- S.G. Loizou H.G. Tanner, V. Kumar, K.J. Kyriakopoulos Closed Loop Navigation for Mobile Agents in Dynamic Environments, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003 F