@article {488,
	title = {Time-sensitive coverage control for non-holonomic and heterogeneous robots: An extremum seeking framework and application},
	journal = {IET Control Theory \&amp$\mathsemicolon$ Applications},
	year = {2023},
	month = {feb},
	doi = {10.1049/cth2.12434},
	url = {https://doi.org/10.1049\%2Fcth2.12434},
	author = {Liang Zhang and Jinghui Deng and Kun Zhou and Tao Yu and Jun Song and Shuping He}
}
@conference {435,
	title = {Distributed Cooperative LFC Protocols for Regulation Synchronization for Networked Multi-area Power Grid Networks},
	booktitle = {47th Annual Conference of the IEEE Industrial Electronics Society (IES)},
	year = {2021},
	month = {10/2021},
	author = {Shafiqul  Islam},
	editor = {Jorge Dias and Anderson Sunda-Meya}
}
@article {Guo2021,
	title = {Semantic Histogram Based Graph Matching for Real-Time Multi-Robot Global Localization in Large Scale Environment},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {8349{\textendash}8356},
	publisher = {IEEE},
	abstract = {The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of global localization for significant viewpoint difference. Appearance-based localization methods tend to fail under large viewpoint changes. Recently, semantic graphs have been utilized to overcome the viewpoint variation problem. However, the methods are highly time-consuming, especially in large-scale environments. This leads to the second difficulty, which is how to perform real-time global localization. In this letter, we propose a semantic histogram based graph matching method that is robust to viewpoint variation and can achieve real-time global localization. Based on that, we develop a system that can accurately and efficiently perform MR-GL for both homogeneous and heterogeneous robots. The experimental results show that our approach is about 30 times faster than Random Walk based semantic descriptors. Moreover, it achieves an accuracy of 95\% for global localization, while the accuracy of the state-of-the-art method is 85\%.},
	keywords = {Global localization, Histograms, large viewpoint difference, Location awareness, multi-robot map merging, Real-time systems, semantic SLAM, Semantics, Simultaneous localization and mapping, Three-dimensional displays, Visualization},
	issn = {2377-3774},
	doi = {10.1109/LRA.2021.3058935},
	author = {Xiyue Guo and Junjie Hu and Junfeng Chen and Fuqin Deng and Tin Lun Lam}
}
@conference {441,
	title = {DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2020},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Las Vegas, NV, USA},
	doi = {10.1109/IROS45743.202010.1109/IROS45743.2020.9341201},
	url = {https://ieeexplore.ieee.org/document/9341201/},
	author = {Joshi, Bharat and Modasshir, Md and Manderson, Travis and Damron, Hunter and Xanthidis, Marios and Quattrini~Li, Alberto and Rekleitis, Ioannis and Dudek, Gregory}
}
@article {Hunt2020a,
	title = {SPIDER: a Bioinspired Swarm Algorithm for Adaptive Risk-Taking},
	journal = {Artificial Life Conference Proceedings},
	volume = {32},
	year = {2020},
	note = {doi: 10.1162/isal_a_00279},
	month = {7},
	pages = {44-51},
	publisher = {MIT Press},
	abstract = {Robot swarms can solve tasks that are impossible or too hazardous for single robots. For example, following a nuclear radiation leak, a user may wish to establish a distributed communication chain that partly extends into the most dangerous areas to gather new information. The challenge is to create long chains while maintaining chain connectivity (?connected reach?), where those at the distant end of the chain are more likely to be disconnected. Here we take the concept of dynamic ?boldness? levels from animal behavior (Stegodyphus social spiders) to explore such risky environments in a way that adapts to the size of the group. Boldness is implemented as a continuous variable associated with the risk appetite of individuals to explore regions more distant from a central base. We present a decentralized mechanism for robots, based on the frequency of their social interactions, to adaptively take on ?bold? and ?shy? behaviors. Using this new bioinspired algorithm, which we call SPIDER, swarms are shown to adapt rapidly to the loss of bold individuals by regenerating a suitable shy?bold distribution, with fewer bolder individuals in smaller groups. This allows them to dynamically trade-off the benefits and costs of long chains (information retrieval versus loss of robots) and demonstrates the particular advantage of this approach in hazardous or adversarial environments.},
	doi = {10.1162/isal_a_00279},
	url = {https://www.mitpressjournals.org/doi/abs/10.1162/isal_a_00279},
	author = {Edmund R Hunt and George Jenkinson and Michael Wilsher and Carl P Dettmann and Sabine Hauert}
}
@article {350,
	title = {Persistent and Robust Execution of MAPF Schedules in Warehouses},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {Jan-04-2019},
	pages = {1125 - 1131},
	doi = {10.1109/LRA.2019.2894217},
	url = {https://ieeexplore.ieee.org/document/8620328/https://ieeexplore.ieee.org/ielam/7083369/8581687/8620328-aam.pdfhttp://xplorestaging.ieee.org/ielx7/7083369/8581687/08620328.pdf?arnumber=8620328},
	author = {Honig, Wolfgang and Kiesel, Scott and Tinka, Andrew and Durham, Joseph W. and Ayanian, Nora}
}
@conference {419,
	title = {Autonomous Marine Sampling Enhanced by Strategically Deployed Drifters in Marine Flow Fields},
	booktitle = {OCEANS 2018 MTS/IEEE Charleston},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Charleston, SC},
	doi = {10.1109/OCEANS.2018.8604873},
	url = {https://ieeexplore.ieee.org/document/8604873/},
	author = {Hansen, Johanna and Manjanna, Sandeep and Quattrini~Li, Alberto and Rekleitis, Ioannis and Dudek, Gregory}
}
@conference {416,
	title = {Heterogeneous Multirobot System for Exploration and Strategic Water Sampling},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2018},
	url = {https://doi.org/10.1109/ICRA.2018.8460759},
	author = {Sandeep Manjanna and Quattrini~Li, Alberto and Ryan N. Smith and Ioannis Rekleitis and Gregory Dudek}
}
@conference {365,
	title = {Intelligent Robotic IoT System (IRIS)Testbed},
	booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Madrid},
	doi = {10.1109/IROS.2018.8593636},
	url = {https://ieeexplore.ieee.org/document/8593636/http://xplorestaging.ieee.org/ielx7/8574473/8593358/08593636.pdf?arnumber=8593636},
	author = {Tran, Jason A. and Ghosh, Pradipta and Gu, Yutong and Kim, Richard and D{\textquoteright}Souza, Daniel and Ayanian, Nora and Krishnamachari, Bhaskar}
}
@conference {363,
	title = {Trajectory Planning for Heterogeneous Robot Teams},
	booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Madrid},
	doi = {10.1109/IROS.2018.8593876},
	url = {https://ieeexplore.ieee.org/document/8593876/http://xplorestaging.ieee.org/ielx7/8574473/8593358/08593876.pdf?arnumber=8593876},
	author = {Debord, Mark and Honig, Wolfgang and Ayanian, Nora}
}
@conference {415,
	title = {Underwater Surveying via Bearing Only Cooperative Localization},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2018},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Madrid},
	doi = {10.1109/IROS.2018.8593431},
	url = {https://ieeexplore.ieee.org/document/8593431},
	author = {Damron, Hunter and Quattrini~Li, Alberto and Rekleitis, Ioannis}
}
@conference {334,
	title = {Collaborative Sampling Using Heterogeneous Marine Robots Driven by Visual Cues},
	booktitle = {Proceedings of the Conference on Computer and Robot Vision (CRV)},
	year = {2017},
	abstract = {This paper addresses distributed data sampling in marine environments using robotic devices. We present a method to strategically sample locally observable features using two classes of sensor platforms. Our system consists of a sophisticated autonomous surface vehicle (ASV) which strategically samples based on information provided by a team of inexpensive sensor nodes. The sensor nodes effectively extend the observational capabilities of the vehicle by capturing georeferenced samples from disparate and moving points across the region. The ASV uses this information, along with its own observations, to plan a path so as to sample points which it expects to be particularly informative. We compare our approach to a traditional exhaustive survey approach and show that we are able to effectively represent a region with less energy expenditure. We validate our approach through simulations and test the system on real robots in field.},
	doi = {10.1109/CRV.2017.49},
	author = {Sandeep Manjanna and Johanna Hansen and Quattrini~Li, Alberto and Ioannis Rekleitis and Gregory Dudek}
}
@conference {335,
	title = {Data Correlation and Comparison from Multiple Sensors over a Coral Reef with a Team of Heterogeneous Aquatic Robots},
	booktitle = {International Symposium on Experimental Robotics (ISER)},
	year = {2016},
	abstract = {This paper presents experimental insights from the deployment of an ensemble of heterogeneous autonomous sensor systems over a shallow coral reef. Visual, inertial, GPS, and ultrasonic data collected are compared and correlated to produce a comprehensive view of the health of the coral reef. Coverage strategies are discussed with a focus on the use of informed decisions to maximize the information collected during a fixed period of time.},
	doi = {10.1007/978-3-319-50115-4_62},
	author = {Quattrini~Li, Alberto and Ioannis Rekleitis and Sandeep Manjanna and Nikhil Kakodkar and Johanna Hansen and Gregory Dudek and Leonardo Bobadilla and Jacob Anderson and Ryan N. Smith}
}
@conference {142,
	title = {Decentralized Motion Control for Cooperative Manipulation with a Team of Networked Mobile Manipulators},
	booktitle = {2016 IEEE Int. Conf. on Robotics and Automation},
	year = {2016},
	month = {05/2016},
	address = {Stockholm, Sweden},
	keywords = {Calibration of ground robots, Motion control of multiple robots},
	author = {Antonio Petitti and Antonio Franchi and Donato Di Paola and Alessandro Rizzo}
}
@conference {276,
	title = {Growing Controllable Networks via Whiskering and Submodular Optimization},
	booktitle = {Conference on Decision and Control},
	year = {2016},
	month = {12/2016},
	abstract = {The topology of a network directly influences the behaviour and controllability of dynamical processes on that network. Therefore, the design of network topologies is an important area of research when examining the control of distributed systems. We discuss a method for growing networks known as whiskering, as well as generalizations of this process, and prove that they preserve controllability. We then use techniques from submodular optimization to analyze optimization algorithms for adding new nodes to a network to optimize certain objectives, such as graph connectivity.},
	author = {Hudoba de Badyn, Mathias and Mesbahi, Mehran}
}
@article {215,
	title = {A Multirobot System for Distributed Area Coverage and Signal Searching in Large Outdoor Scenarios},
	journal = {Journal of Field Robotics},
	year = {2015},
	pages = {n/a{\textendash}n/a},
	issn = {1556-4967},
	doi = {10.1002/rob.21636},
	url = {http://dx.doi.org/10.1002/rob.21636},
	author = {Garz{\'o}n, Mario and Valente, Jo{\~a}o and Rold{\'a}n, Juan Jes{\'u}s and Cancar, Leandro and Barrientos, Antonio and Del Cerro, Jaime}
}
@article {147,
	title = {Self-Organized Aggregation without Computation},
	journal = {The International Journal of Robotics Research},
	volume = {33},
	year = {2014},
	pages = {1145-1161},
	keywords = {aggregation, minimal information processing, rendezvous, swarm robotics},
	doi = {10.1177/0278364914525244},
	author = {Gauci, Melvin and Chen, Jianing and Li, Wei and Dodd, Tony J. and Gross, Roderich}
}
@conference {36,
	title = {Coverage search in 3D},
	year = {2013},
	address = {Linkoeping, Sweden},
	abstract = {Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental problem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.},
	keywords = {3D environments, coverage search, Educational institutions, execution time, household robots, image sequences, inspection robots, leaking pipelines search, objects search, path planning, Planning, rescue robots, Robot sensing systems, robot vision, robotic applications, schedule computation, Search problems, sensor, service robots, solid modelling, survivors search, Three-dimensional displays, Traveling salesman problems, view point sequences},
	doi = {10.1109/SSRR.2013.6719340},
	author = {Dornhege, C. and Kleiner, A. and Kolling, A.}
}
@conference {37,
	title = {Coverage search in 3D},
	booktitle = {Proc. of the {IEEE} Int. Workshop on Safety, Security and Rescue Robotics {(SSRR)},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Linkoeping, Sweden},
	abstract = {Searching with a sensor for objects and to observe parts of a known environment efficiently is a fundamental problem in many real-world robotic applications such as household robots searching for objects, inspection robots searching for leaking pipelines, and rescue robots searching for survivors after a disaster. We consider the problem of identifying and planning efficient view point sequences for covering complex 3d environments. We compare empirically several variants of our algorithm that allow to trade-off schedule computation against execution time. Our results demonstrate that, despite the intractability of the overall problem, computing effective solutions for coverage search in real 3d environments is feasible.},
	keywords = {3D environments, coverage search, Educational institutions, execution time, household robots, image sequences, inspection robots, leaking pipelines search, objects search, path planning, Planning, rescue robots, Robot sensing systems, robot vision, robotic applications, schedule computation, Search problems, sensor, service robots, solid modelling, survivors search, Three-dimensional displays, Traveling salesman problems, view point sequences},
	doi = {10.1109/SSRR.2013.6719340},
	author = {Dornhege, C. and Kleiner, A. and Kolling, A.}
}
@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 {161,
	title = {Iterative optimal feedback control design under relaxed rigidity constraints for multi-robot cooperative manipulation},
	booktitle = {Proceedings of the 52nd IEEE Conference on Decision and Control (CDC)},
	year = {2013},
	address = {Florenz, Italien},
	abstract = {Cooperative manipulation of multiple robots presents an interesting control application scenario of coupled dynamical systems with a common goal. Here, we treat the problem of moving a formation of physically interconnected robots to a desired goal while maintaining the formation. This control problen is for example relevant in cooperative transport of an object from an initial to a final configuration by mobile robotic manipulators. To achieve the control goal we formulate an LQR-like optimal control problem that, in addition to goal regulation and minimization of input energy, includes the formation rigidity constraint in a relaxed form expressed as a biquadratic penalty term. The control problem is solved by two different iterative algorithms, a gradient descent using adjoint states and a quasi-Newton method, that determine a static linear state-feedback matrix. The proposed control design and the iterative algorithms are validated and compared in numerical simulations showing the efficacy of both approaches.},
	url = {;},
	author = {D. Sieber and F. Deroo and S. Hirche}
}
@article {135,
	title = {Distributed Pursuit-Evasion without Mapping and Global Localization via Local Frontiers},
	journal = {Autonomous Robots},
	volume = {32},
	year = {2012},
	month = {01/2012},
	pages = {81-95},
	abstract = {This paper addresses a visibility-based pursuit-evasion problem in which a team of mobile robots with limited sensing and communication capabilities must coordinate to detect any evaders in an unknown, multiply-connected planar environment. Our distributed algorithm to guarantee evader detection is built around maintaining complete coverage of the frontier between cleared and contaminated regions while expanding the cleared region. We detail a novel distributed method for storing and updating this frontier without building a map of the environment or requiring global localization. We demonstrate the functionality of the algorithm through simulations in realistic environments and through hardware experiments. We also compare Monte Carlo results for our algorithm to the theoretical optimum area cleared as a function of the number of robots available.},
	keywords = {Coverage, Distributed algorithms, Multi-robot systems, Pursuit-evasion / Clearing},
	url = {http://www.springerlink.com/content/a02pr41790ll754w/},
	author = {Joseph W. Durham and Antonio Franchi and Francesco Bullo}
}
@conference {46,
	title = {The SHERPA project: smart collaboration between humans and ground-aerial robots for improving rescuing activities in alpine environments},
	booktitle = {Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics (SSRR)},
	year = {2012},
	address = {College Station, US},
	abstract = {The goal of the paper is to present the foreseen research activity of the European project {\textquoteleft}{\textquoteleft}SHERPA{\textquoteright}{\textquoteright} whose activities will start officially on February 1th 2013. The goal of SHERPA is to develop a mixed ground and aerial robotic platform to support search and rescue activities in a real-world hostile environment, like the alpine scenario that is specifically targeted in the project. Looking into the technological platform and the alpine rescuing scenario, we plan to address a number of research topics about cognition and control. What makes the project potentially very rich from a scientific viewpoint is the heterogeneity and the capabilities to be owned by the different actors of the SHERPA system: the human rescuer is the {\textquoteleft}{\textquoteleft}busy genius{\textquoteright}{\textquoteright}, working in team with the ground vehicle, as the {\textquoteleft}{\textquoteleft}intelligent donkey{\textquoteright}{\textquoteright}, and with the aerial platforms, i.e. the {\textquoteleft}{\textquoteleft}trained wasps{\textquoteright}{\textquoteright} and {\textquoteleft}{\textquoteleft}patrolling hawks{\textquoteright}{\textquoteright}. Indeed, the research activity focuses on how the {\textquoteleft}{\textquoteleft}busy genius{\textquoteright}{\textquoteright} and the {\textquoteleft}{\textquoteleft}SHERPA animals{\textquoteright}{\textquoteright} interact and collaborate with each other, with their own features and capabilities, toward the achievement of a common goal.},
	keywords = {alpine environments, autonomous aerial vehicles, busy genius, Cognitive Systems, European project, Ground and Aerial Robotics, ground-aerial robots, human rescuer, intelligent donkey, patrolling hawks, real-world hostile environment, rescuing activities, Robust Control, Search and Rescue, search and rescue activities, SHERPA project, smart collaboration, telerobotics, trained wasps},
	doi = {10.1109/SSRR.2012.6523905},
	author = {Marconi, L. and Melchiorri, C. and Beetz, M. and Pangercic, D. and Siegwart, R. and Leutenegger, S. and Carloni, R. and Stramigioli, S. and Bruyninckx, H. and Doherty, P. and Kleiner, A. and Lippiello, V. and Finzi, A. and Siciliano, B. and Sala, A. and Tomatis, N.}
}
@inbook {217,
	title = {Computational Science and Its Applications - ICCSA 2011: International Conference, Santander, Spain, June 20-23, 2011. Proceedings, Part III},
	year = {2011},
	pages = {58{\textendash}73},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	chapter = {Multi-robot Visual Coverage Path Planning: Geometrical Metamorphosis of the Workspace through Raster Graphics Based Approaches},
	address = {Berlin, Heidelberg},
	isbn = {978-3-642-21931-3},
	doi = {10.1007/978-3-642-21931-3_5},
	url = {http://dx.doi.org/10.1007/978-3-642-21931-3_5},
	author = {Valente, Jo{\~a}o and Barrientos, Antonio and Del Cerro, Jaime and Rossi, Claudio and Colorado, Julian and Sanz, David and Garz{\'o}n, Mario},
	editor = {Murgante, Beniamino and Gervasi, Osvaldo and Iglesias, Andr{\'e}s and Taniar, David and Apduhan, Bernady O.}
}
@article {209,
	title = {Cooperative Multi-Robot Systems: a study of Vision-based 3-D Mapping using Information Theory},
	journal = {Robotics and Autonomous Systems},
	volume = {53},
	year = {2005},
	month = {Dec.},
	pages = {282-311},
	author = {Rocha, R. and Dias, J. and Carvalho, A.}
}
@article {208,
	title = {Towards a New Mobility Concept for Cities: Architecture \& Programming of Semi-Autonomous Electric Vehicles},
	journal = {Industrial Robot},
	volume = {34},
	year = {200},
	month = {Mar},
	pages = {142-149},
	author = {Rocha, R. and Cunha, A. and Varandas, J. and Dias, J.}
}
