M.  Alhafnawi, Hunt, E. R., Lemaignan, S., O'Dowd, P., and Hauert, S., ?MOSAIX: a Swarm of Robot Tiles for Social Human-Swarm Interaction?, in 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 6882-6888.

A.  Quattrini Li, Penumarthi, P. Krishna, Banfi, J., Basilico, N., O?Kane, J. M., Rekleitis, I., Nelakuditi, S., and Amigoni, F., ?Multi-robot online sensing strategies for the construction of communication maps?, Autonomous Robots, vol. 44, no. 3-4, pp. 299 - 319, 2020.

F.  Amigoni, Banfi, J., Basilico, N., Rekleitis, I., and Quattrini Li, A., Online Update of Communication Maps for Exploring Multirobot Systems Under Connectivity Constraints, vol. 9. Cham: Springer International Publishing, 2019, pp. 513 - 526.

W.  Honig, Kiesel, S., Tinka, A., Durham, J. W., and Ayanian, N., ?Persistent and Robust Execution of MAPF Schedules in Warehouses?, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1125 - 1131, 2019.

N.  Kamra, Kumar, T. K. Satish, and Ayanian, N., ?Combinatorial Problems in Multirobot Battery Exchange Systems?, IEEE Transactions on Automation Science and Engineering, vol. 15, no. 2, pp. 852 - 862, 2018.

S.  Islam, ?Consensus Based Distributed Robust Adaptive Control for Second-Order Nonlinear Multi-agent Systems with Uncertainty?, In Proc. IEEE International Conference on Systems, Man, and Cybernetics (SMC). 2018.

J. A.  Tran, Ghosh, P., Gu, Y., Kim, R., D'Souza, D., Ayanian, N., and Krishnamachari, B., ?Intelligent Robotic IoT System (IRIS)Testbed?, in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

A. Quattrini Li, Fioratto, R., Amigoni, F., and Isler, V., ?A Search-Based Approach to Solve Pursuit-Evasion Games with Limited Visibility in Polygonal Environments?, in International Conference on Autonomous & Multiagent Systems (AAMAS), 2018.

J.  Banfi, Quattrini Li, A., Rekleitis, I., Amigoni, F., and Basilico, N., ?Strategies for coordinated multirobot exploration with recurrent connectivity constraints?, Autonomous Robots, vol. 42, pp. 875?894, 2018.

M.  Debord, Honig, W., and Ayanian, N., ?Trajectory Planning for Heterogeneous Robot Teams?, in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018.

W.  Honig, Preiss, J. A., Kumar, T. K. Satish, Sukhatme, G. S., and Ayanian, N., ?Trajectory Planning for Quadrotor Swarms?, IEEE Transactions on Robotics, vol. 34, no. 4, pp. 856 - 869, 2018.

J. A.  Preiss, Honig, W., Sukhatme, G. S., and Ayanian, N., ?Crazyswarm: A large nano-quadcopter swarm?, in 2017 IEEE International Conference on Robotics and Automation (ICRA)2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, Singapore, 2017.

J. A.  Preiss, Honig, W., Ayanian, N., and Sukhatme, G. S., ?Downwash-aware trajectory planning for large quadrotor teams?, in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017.

W.  Honig and Ayanian, N., ?Flying Multiple UAVs Using ROS?, vol. 707, A.  Koubaa, Ed. Cham: Springer International Publishing, 2017, pp. 83 - 118.

P. Krishna Penumarthi, Quattrini Li, A., Banfi, J., Basilico, N., Amigoni, F., O'Kane, J., Rekleitis, I., and Nelakuditi, S., ?Multirobot Exploration for Building Communication Maps with Prior from Communication Models?, in Proceedings of the International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2017.

J.  Banfi, Quattrini Li, A., Basilico, N., Rekleitis, I., and Amigoni, F., ?Multirobot Online Construction of Communication Maps?, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2017.

N.  Ayanian, Fitch, R., Franchi, A., and Sabattini, L., ?Multirobot Systems [TC Spotlight]?, IEEE Robotics & Automation Magazine, vol. 24, no. 2, pp. 12 - 16, 2017.

H.  Ma, Honig, W., Cohen, L., Uras, T., Xu, H., Kumar, T. K. Satish, Ayanian, N., and Koenig, S., ?Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems?, IEEE Intelligent Systems, vol. 32, no. 6, pp. 6 - 12, 2017.

W.  Honig, Kumar, T. K. Satish, Cohen, L., Ma, H., Xu, H., Ayanian, N., and Koenig, S., ?Summary: Multi-Agent Path Finding with Kinematic Constraints?, in Twenty-Sixth International Joint Conference on Artificial IntelligenceProceedings of the Twenty-Sixth International Joint Conference on Artificial Intelligence, Melbourne, AustraliaCalifornia, 2017.

J.  Banfi, Quattrini Li, A., Basilico, N., Rekleitis, I., and Amigoni, F., ?Asynchronous Multirobot Exploration under Recurrent Connectivity Constraints?, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.

A.  Quattrini Li, Rekleitis, I., Manjanna, S., Kakodkar, N., Hansen, J., Dudek, G., Bobadilla, L., Anderson, J., and Smith, R. N., ?Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots?, in International Symposium on Experimental Robotics (ISER), 2016.

W.  Honig, Kumar, T. K. Satish, Ma, H., Koenig, S., and Ayanian, N., ?Formation change for robot groups in occluded environments?, in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.

W.  Hönig, Kumar, T. K. Satish, Cohen, L., Ma, H., Xu, H., Ayanian, N., and Koenig, S., ?Multi-Agent Path Finding with Kinematic Constraints?, in International Conference on Automated Planning and Scheduling, London, UK, 2016.

H.  Ma, Koenig, S., Ayanian, N., Cohen, L., Hönig, W., Kumar, T. K. Satish, Uras, T., Xu, H., Tovey, C., and Sharon, G., ?Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios?, in IJCAI-16 Workshop on Multi-Agent Path Finding (WOMPF), 2016.

H.  Xu, Kumar, T. K. Satish, Johnke, D., Ayanian, N., and Koenig, S., ?SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks?, in 2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI)2016 IEEE 28th International Conference on Tools with Artificial Intelligence (ICTAI), San Jose, CA, USA, 2016.

K.  Hausman, Mueller, J., Hariharan, A., Ayanian, N., and Sukhatme, G., ?Cooperative Control for Target Tracking with Onboard Sensing?, International Journal of Robotics Research, vol. 34, pp. 1660-1677, 2015.

N.  Kamra and Ayanian, N., ?Dynamic Resource Reallocation for Robots on Long Term Deployments?, in IEEE Intl Conf Automation Science and Engineering, Gothenburg, Sweden, 2015.

J.  Banfi, Basilico, N., and Amigoni, F., ?Minimizing communication latency in multirobot situation-aware patrolling?, in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015.

N.  Kamra and Ayanian, N., ?A mixed integer programming model for timed deliveries in multirobot systems?, in 2015 IEEE International Conference on Automation Science and Engineering (CASE)2015 IEEE International Conference on Automation Science and Engineering (CASE), Gothenburg, Sweden, 2015.

W.  Hoenig, Milanes, C., Scaria, L., Phan, T., Bolas, M., and Ayanian, N., ?Mixed Reality for Robotics?, in IEEE/RSJ Intl Conf. Intelligent Robots and Systems, Hamburg, Germany, 2015.

W.  Honig, Milanes, C., Scaria, L., Phan, T., Bolas, M., and Ayanian, N., ?Mixed reality for robotics?, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

F.  Arrichiello, Marino, A., and Pierri, F., ?Observer-Based Decentralized Fault Detection and Isolation Strategy for Networked Multirobot Systems?, Control Systems Technology, IEEE Transactions on, vol. PP, pp. 1-1, 2015.

S.  Wang, Krishnamachari, B., and Ayanian, N., ?The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment?, in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

S.  Wang, Krishnamachari, B., and Ayanian, N., ?The Optimism Principle: A Unified Framework for Optimal Robotic Network Deployment in An Unknown Obstructed Environment?, in IEEE/RSJ Intl Conf. Intelligent Robots and Systems, Hamburg, Germany, 2015.

A.  Quattrini Li, Cipolleschi, R., Giusto, M., and Amigoni, F., ?A semantically-informed multirobot system for exploration of relevant areas in search and rescue settings?, Autonomous Robots, pp. 1?17, 2015.

N.  Ayanian, Spielberg, A., Arbesfeld, M., Strauss, J., and Rus, D., ?Controlling a Team of Robots from a Single Input?, in IEEE Int'l Conf. Robotics and Automation, Hong Kong, 2014, pp. 1755 - 1762.

K.  Hausman, Mueller, J., Hariharan, A., Ayanian, N., and Sukhatme, G., ?Cooperative Control for Target Tracking with Onboard Sensing?, in International Symposium of Robotics Research, Morocco, 2014.

S.  Garg and Ayanian, N., ?Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots?, in Robotics: Science and Systems, Berkeley, CA, 2014.

R.  Anderson and Milutinovi?, D., ?Stochastic Optimal Enhancement of Distributed Formation Control Using Kalman Smoothers?, Robotica, vol. 32, no. 2, pp. 305-324, 2014.

G.  Antonelli, Arrichiello, F., Caccavale, F., and Marino, A., ?A decentralized controller-observer scheme for multi-agent weighted centroid tracking?, IEEE Transactions on Automatic Control, vol. 58, pp. 1310?1316, 2013.

F.  Amigoni, Basilico, N., and Quattrini Li, A., ?How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue??, in RoboCup 2012: Robot Soccer World Cup XVI, X.  Chen, Stone, P., Sucar, L. Enrique, and Zant, T., Eds. Berlin, Heidelberg: Springer, 2013, pp. 106?117.

C.  Sung, Ayanian, N., and Rus, D., ?Improving the Performance of Multi-Robot Systems by Task Switching?, in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013, pp. 2984 - 2991.

C.  Sung, Ayanian, N., and Rus, D., ?Improving the performance of multi-robot systems by task switching?, in 2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.

H. L.  Akin, Ito, N., Jacoff, A., Kleiner, A., Pellenz, J., and Visser, A., ?RoboCup Rescue Robot and Simulation Leagues?, AI Magazine, vol. 34, pp. 78?87, 2013.

R.  Cipolleschi, Giusto, M., Quattrini Li, A., and Amigoni, F., ?Semantically-Informed Coordinated Multirobot Exploration of Relevant Areas in Search and Rescue Settings?, in Proceedings of the 6th European Conference on Mobile Robots (ECMR), 2013.

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.

D.  Zelazo, Franchi, A., Allgöwer, F., Bülthoff, H. H., and Giordano, P. Robuffo, ?Rigidity Maintenance Control for Multi-Robot Systems?, in 2012 Robotics: Science and Systems Conference, Sydney, Australia, 2012.

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

J.  Valente, Barrientos, A., Del Cerro, J., Rossi, C., Colorado, J., Sanz, D., and Garzón, M., ?Computational Science and Its Applications - ICCSA 2011: International Conference, Santander, Spain, June 20-23, 2011. Proceedings, Part III?, B.  Murgante, Gervasi, O., Iglesias, A., Taniar, D., and Apduhan, B. O., Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011, pp. 58?73.

N.  Ayanian, ?Coordination of Multirobot Teams and Groups in Constrained Environments: Models, Abstractions, and Control Policies?, University of Pennsylvania, 2011.

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, 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.

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., ?Abstractions and controllers for groups of robots in environments with obstacles?, in 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010.

N.  Ayanian and Kumar, V., ?Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles?, IEEE Transactions on Robotics, vol. 26, no. 5, pp. 878 - 887, 2010.

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.

N.  Ayanian and Kumar,  V., ?Decentralized feedback controllers for multi-agent teams in environments with obstacles?, in IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008, pp. 1936-1941.

H.  Kress-Gazit, Ayanian, N., Pappas, G. J., and Kumar, V., ?Recycling controllers?, in 2008 IEEE International Conference on Automation Science and Engineering (CASE 2008)2008 IEEE International Conference on Automation Science and Engineering, Arlington, VA, 2008.

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.

D.  Milutinovi?, Lima, P., and Athans, M., ?Biologically Inspired Stochastic Hybrid Control of Multi-Robot Systems?, in Proceedings of the 11th International Conference on Advanced Robotics  (ICAR), Coimbra, Portugal, 2003.