@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 {489,
	title = {Probabilistic Network Topology Prediction for Active Planning: An Adaptive Algorithm and Application},
	journal = {IEEE Transactions on Robotics},
	volume = {39},
	year = {2023},
	month = {feb},
	pages = {147{\textendash}164},
	doi = {10.1109/tro.2022.3189223},
	url = {https://doi.org/10.1109\%2Ftro.2022.3189223},
	author = {Liang Zhang and Zexu Zhang and Roland Siegwart and Jen Jen Chung}
}
@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}
}
@article {Li2022,
	title = {3-D Inter-Robot Relative Localization via Semidefinite Optimization},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	pages = {10081{\textendash}10088},
	publisher = {IEEE},
	abstract = {In this letter, the 3-D inter-robot relative localization problem is addressed using noise-corrupted odometric and distance measurements. Unlike the existing solutions, we are devoted to providing a relative localization method that has an {\textquotedblleft}overall best performance,{\textquotedblright} which means that the tradeoffs between the estimation accuracy (EA), the number of measurements (NoMs), and the computation efficiency (CE) are considered. We demonstrate that an existing formulation of the 3-D relative localization problem, the square distances weighted least square (SD-WLS), can be equivalently reformulated as a non-convex quadratic constrained quadratic programming (QCQP) problem. Further, to handle the non-convex nature of the QCQP problem, we adopt the semidefinite programming (SDP) relaxation approach, which drops the rank constraint and recovers the solution of the QCQP via an eigenvalue decomposition strategy. Finally, a refinement step is introduced to solve the problem that the quadratic constraints might not be satisfied due to the SDP relaxation. The simulation and experiment results show that, compared to existing methods, our method has the best overall performance when the three factors, i.e., EA, NoMs, and CE, are important for a relative localization application.},
	keywords = {3-D inter-robot relative localization, Distance measurement, Global Positioning System, Location awareness, non-convex optimization, QCQP, Quaternions, Robots, SDP, sensors, Sun},
	issn = {2377-3774},
	doi = {10.1109/LRA.2022.3192888},
	author = {Ming Li and Tin Lun Lam and Zhiyong Sun}
}
@article {471,
	title = {Self-Stabilizing Self-Assembly},
	journal = {IEEE Robotics and Automation Letters},
	volume = {7},
	year = {2022},
	pages = {9763-9769},
	doi = {10.1109/LRA.2022.3191795},
	author = {J{\'\i}lek, Martin and Str{\'a}nsk{\'a}, Kate{\v r}ina and Somr, Michael and Kulich, Miroslav and Zeman, Jan and P{\v r}eu{\v c}il, Libor}
}
@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 {490,
	title = {Distributed PDOP Coverage Control: Providing Large-Scale Positioning Service Using a Multi-Robot System},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	month = {apr},
	pages = {2217{\textendash}2224},
	doi = {10.1109/lra.2021.3059625},
	url = {https://doi.org/10.1109\%2Flra.2021.3059625},
	author = {Liang Zhang and Zexu Zhang and Roland Siegwart and Jen Jen Chung}
}
@article {470,
	title = {Towards a Passive Self-Assembling Macroscale Multi-Robot System},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {7293-7300},
	doi = {10.1109/LRA.2021.3096748},
	author = {J{\'\i}lek, Martin and Somr, Michael and Kulich, Miroslav and Zeman, Jan}
}
@article {469,
	title = {Towards a Passive Self-Assembling Macroscale Multi-Robot System},
	journal = {IEEE Robotics and Automation Letters},
	volume = {6},
	year = {2021},
	pages = {7293-7300},
	doi = {10.1109/LRA.2021.3096748},
	author = {J{\'\i}lek, Martin and Somr, Michael and Kulich, Miroslav and Zeman, Jan and P{\v r}eu{\v c}il, Libor}
}
@conference {493,
	title = {A Connectivity-Prediction Algorithm and its Application in Active Cooperative Localization for Multi-Robot Systems},
	booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2020},
	doi = {10.1109/ICRA40945.2020.9197083},
	author = {Zhang, Liang and Zhang, Zexu and Siegwart, Roland and Chung, Jen Jen}
}
@article {491,
	title = {Decentralised finite-time consensus for second-order multi-agent system under event-triggered strategy},
	journal = {IET Control Theory \& Applications},
	volume = {14},
	year = {2019},
	pages = {664{\textendash}673},
	author = {Zhang, Liang and Zhang, Zexu and Lawrance, Nicholas and Nieto, Juan and Siegwart, Roland}
}
@book {414,
	title = {Online Update of Communication Maps for Exploring Multirobot Systems Under Connectivity Constraints},
	series = {Springer Proceedings in Advanced Robotics - Distributed Autonomous Robotic Systems},
	volume = {9},
	year = {2019},
	pages = {513 - 526},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Cham},
	keywords = {Communication, Exploration, Multirobot systems},
	isbn = {978-3-030-05815-9},
	issn = {2511-1256},
	doi = {10.1007/978-3-030-05816-610.1007/978-3-030-05816-6_36},
	url = {http://link.springer.com/10.1007/978-3-030-05816-6},
	author = {Amigoni, Francesco and Banfi, Jacopo and Basilico, Nicola and Rekleitis, Ioannis and Quattrini~Li, Alberto},
	editor = {Correll, Nikolaus and Schwager, Mac and Otte, Michael}
}
@conference {492,
	title = {Optimized motion strategy for active target localization of mobile robots with time-varying connectivity},
	booktitle = {2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},
	year = {2019},
	publisher = {IEEE},
	organization = {IEEE},
	author = {Zhang, Liang and Zhang, Zexu and Siegwart, Roland and Chung, Jen Jen}
}
@proceedings {426,
	title = {Robust Adaptive Tracking Synchronization Protocols for Leader-Follower Multirotor Aerial Vehicles with Uncertainty},
	year = {2019},
	month = {11/2019},
	publisher = {IEEE},
	address = {Italy},
	abstract = { This   paper  develops  robust   adaptive  tracking synchronization protocol for a group of cloud connected leader-follower  multirotor  aerial  vehicles  (MAVs)  with  uncertainty. The design combines adaptive learning mechanism with sliding mode control vectors to solve consensus tracking synchroniza-tion  problem  for  both  attitude  and  position  dynamics.  The protocols are constructed by using local and neighboring states of  the  vehicles  provided  that  the  vehicles  can  share  states information with  neighboring vehicles via local area network. Adaptive learning algorithms are used locally for each vehicle to  deal  with  uncertainty  associated  with  nonlinear  dynamics and uncertain flying environment. Lyapunov and sliding mode control method is employed to design and analyze asymptotic convergence  of  the  consensus  tracking  error  functions.  The convergence  analysis  shows  that  the  states  of  the  follower vehicles can reach an agreement and synchronize to the leader vehicle achieving  ensuring tracking synchronization property. The  protocols  design  and  implementation  is  simple  as  they do  not  require  exact  knowledge of  the  dynamical  model  and uncertainty. 

},
	doi = {10.1109/SMC.2019.8914373},
	author = {Shafiqul Islam and Abdulmotaleb El Saddik and Anderson Sunda-Meya}
}
@proceedings {427,
	title = {Robust Cooperative Load-Frequency Tracking Protocols for Leader-Follower Smart Power Grid Networks With Uncertainty},
	year = {2019},
	month = {11/2019},
	publisher = {IEEE},
	address = {Italy},
	doi = {10.1109/SMC.2019.8914446},
	author = {Shafiqul Islam and Abdulmotaleb El Saddik}
}
@proceedings {430,
	title = {Consensus Based Distributed Cooperative Control for Multiple Miniature Aerial Vehicles with Uncertainty},
	year = {2018},
	month = {11/2018},
	doi = {10.1109/SMC.2017.8122995},
	author = {Shafiqul Islam},
	editor = {Peter Liu and A. El Saddik}
}
@proceedings {429,
	title = {Consensus Based Distributed Robust Adaptive Control for Second-Order Nonlinear Multi-agent Systems with Uncertainty},
	year = {2018},
	month = {11/2018},
	doi = {10.1109/SMC.2018.00451},
	author = {Shafiqul Islam},
	editor = {Toufik Khawl and Abdelaziz Saeed Mohamed Alzaabi and Anderson Sunda-Meya}
}
@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 {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}
}
@article {351,
	title = {Trajectory Planning for Quadrotor Swarms},
	journal = {IEEE Transactions on Robotics},
	volume = {34},
	year = {2018},
	month = {Jan-08-2018},
	pages = {856 - 869},
	issn = {1552-3098},
	doi = {10.1109/TRO.2018.2853613},
	url = {https://ieeexplore.ieee.org/document/8424034/http://xplorestaging.ieee.org/ielx7/8860/8437110/08424034.pdf?arnumber=8424034},
	author = {Honig, Wolfgang and Preiss, James A. and Kumar, T. K. Satish and Sukhatme, Gaurav S. and Ayanian, Nora}
}
@proceedings {431,
	title = {Consensus Based Distributed Cooperative Control for Multiple Miniature Aerial Vehicles with Uncertainty},
	year = {2017},
	month = {11/2017},
	publisher = {IEEE},
	doi = {10.1109/SMC.2017.8122995},
	author = {Shafiqul Islam},
	editor = {P. X. Liu and A. El Saddik}
}
@conference {357,
	title = {Crazyswarm: A large nano-quadcopter swarm},
	booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)2017 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2017},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Singapore, Singapore},
	doi = {10.1109/ICRA.2017.7989376},
	url = {http://ieeexplore.ieee.org/document/7989376/http://xplorestaging.ieee.org/ielx7/7960754/7988677/07989376.pdf?arnumber=7989376},
	author = {Preiss, James A. and Honig, Wolfgang and Sukhatme, Gaurav S. and Ayanian, Nora}
}
@proceedings {432,
	title = {Distributed Robust Adaptive Finite-Time Voltage Control for AC Microgrids with Uncertainty},
	year = {2017},
	month = {11/2017},
	doi = {10.1109/SMC.2017.8122946},
	author = {S. Islam},
	editor = {P. X. Liu and A. El  Saddik}
}
@proceedings {434,
	title = {Distributed Robust Adaptive Finite-Time Voltage Control for AC Microgrids with Uncertainty},
	year = {2017},
	month = {11/2017},
	doi = {10.1109/SMC.2017.8122946},
	author = {Shafiqul Islam},
	editor = {Peter Liu and Abdulmotaleb El Saddik}
}
@conference {355,
	title = {Downwash-aware trajectory planning for large quadrotor teams},
	booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Vancouver, BC},
	doi = {10.1109/IROS.2017.8202165},
	url = {http://ieeexplore.ieee.org/document/8202165/http://xplorestaging.ieee.org/ielx7/8119304/8202121/08202165.pdf?arnumber=8202165},
	author = {Preiss, James A. and Honig, Wolfgang and Ayanian, Nora and Sukhatme, Gaurav S.}
}
@article {370,
	title = {Multirobot Systems [TC Spotlight]},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {24},
	year = {2017},
	month = {Jan-06-2017},
	pages = {12 - 16},
	issn = {1070-9932},
	doi = {10.1109/MRA.2017.2691138},
	url = {http://ieeexplore.ieee.org/document/7947267/http://xplorestaging.ieee.org/ielx7/100/7947233/07947267.pdf?arnumber=7947267},
	author = {Ayanian, Nora and Fitch, Robert and Franchi, Antonio and Sabattini, Lorenzo}
}
@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}
}
@article {132,
	title = {Decentralized Multi-Robot Encirclement of a 3D Target with Guaranteed Collision Avoidance},
	journal = {Autonomous Robots},
	volume = {40},
	year = {2016},
	month = {02/2016},
	pages = {245-265},
	abstract = {We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their effectiveness is formally established. An extension ensuring maintenance of a safe inter-robot distance is also discussed. The proposed framework is fully decentralized and only requires local communication among robots; in particular, each robot locally estimates all the relevant global quantities. We validate the proposed strategy through simulations on kinematic point robots and quadrotor UAVs, as well as experiments on differential-drive wheeled mobile robots.},
	keywords = {Motion control of multiple robots},
	author = {Antonio Franchi and Paolo Stegagno and Giuseppe Oriolo}
}
@conference {382,
	title = {Multi-Agent Path Finding with Payload Transfers and the Package-Exchange Robot-Routing Problem},
	booktitle = {AAAI Conference on Artificial Intelligence (AAAI)},
	year = {2016},
	keywords = {conference},
	author = {Hang Ma and Craig Tovey and Guni Sharon and T. K. Satish Kumar and Sven Koenig}
}
@conference {384,
	title = {Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios},
	booktitle = {IJCAI-16 Workshop on Multi-Agent Path Finding (WOMPF)},
	year = {2016},
	keywords = {workshop},
	author = {Hang Ma and Sven Koenig and Nora Ayanian and Liron Cohen and Wolfgang H{\"o}nig and T. K. Satish Kumar and Tansel Uras and Hong Xu and C. Tovey and G. Sharon}
}
@article {400,
	title = {On the Vulnerabilities of Voronoi-Based Approaches to Mobile Sensor Deployment},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {15},
	year = {2016},
	month = {Dec},
	pages = {3114-3128},
	abstract = {Mobile sensor networks are the most promising solution to cover an Area of Interest (AoI) in safety critical scenarios. Mobile devices can coordinate with each other according to a distributed deployment algorithm, without resorting to human supervision for device positioning and network configuration. In this paper, we focus on the vulnerabilities of the deployment algorithms based on Voronoi diagrams to coordinate mobile sensors and guide their movements. We give a geometric characterization of possible attack configurations, proving that a simple attack consisting of a barrier of few compromised sensors can severely reduce network coverage. On the basis of the above characterization, we propose two new secure deployment algorithms, named SecureVor and Secure Swap Deployment (SSD). These algorithms allow a sensor to detect compromised nodes by analyzing their movements, under different and complementary operative settings. We show that the proposed algorithms are effective in defeating a barrier attack, and both have guaranteed termination. We perform extensive simulations to study the performance of the two algorithms and compare them with the original approach. Results show that SecureVor and SSD have better robustness and flexibility and excellent coverage capabilities and deployment time, even in the presence of an attack.},
	keywords = {area of interest, Bills of materials, computational geometry, Computer science, deployment algorithms, device positioning, Mobile communication, Mobile computing, mobile radio, mobile sensor deployment, mobile sensor networks, Mobile sensors, mobile wireless sensors, Monitoring, network configuration, network coverage, secureVor secure swap deployment, self-deployment, sensors, telecommunication security, Voronoi approach, Voronoi-based approaches, wireless sensor networks},
	issn = {1558-0660},
	doi = {10.1109/TMC.2016.2524630},
	author = {N. Bartolini and S. Ciavarella and S. Silvestri and T. L. Porta}
}
@article {195,
	title = {Ad Hoc Communication in Teams of Mobile Robots using Zigbee Technology},
	journal = {Computer Applications in Engineering Education},
	volume = {23},
	year = {2015},
	month = {Sep.},
	pages = {733-745},
	author = {Fernandes, A. and Couceiro, M. and Portugal, D. and Santos, J. M. and Rocha, R. P.}
}
@article {189,
	title = {Cooperative Control for Target Tracking with Onboard Sensing},
	journal = {International Journal of Robotics Research},
	volume = {34},
	year = {2015},
	month = {November},
	pages = {1660-1677},
	author = {Karol Hausman and Joerg Mueller and Abishek Hariharan and Nora Ayanian and Gaurav Sukhatme}
}
@conference {192,
	title = {Mixed Reality for Robotics},
	booktitle = {IEEE/RSJ Intl Conf. Intelligent Robots and Systems},
	year = {2015},
	month = {Sept},
	address = {Hamburg, Germany},
	author = {Wolfgang Hoenig and Christina Milanes and Lisa Scaria and Thai Phan and Mark Bolas and Nora Ayanian}
}
@conference {360,
	title = {Mixed reality for robotics},
	booktitle = {2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2015},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Hamburg, Germany},
	doi = {10.1109/IROS.2015.7354138},
	url = {http://ieeexplore.ieee.org/document/7354138/http://xplorestaging.ieee.org/ielx7/7347169/7353104/07354138.pdf?arnumber=7354138},
	author = {Honig, Wolfgang and Milanes, Christina and Scaria, Lisa and Phan, Thai and Bolas, Mark and Ayanian, Nora}
}
@conference {159,
	title = {Multi-robot manipulation controlled by a human with haptic feedback},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2015},
	abstract = {The interaction of a single human with a team of cooperative robots, which collaboratively manipulate an object, poses a great challenge by means of the numerous possibilities of issuing commands to the team or providing appropriate feedback to the human. In this paper we propose a formationbased approach in order to avoid deformations of the object and to virtually couple the human to the formation. Here the human can be interpreted as a leader in a leader-follower formation with the robotic manipulators being the followers. The results of a controllability analysis in such a leader-follower formation suggest that it is beneficial to measure the state of the human (leader) by all physically cooperating manipulators (followers). The proposed approach is evaluated in a full-scale multi-robot cooperative manipulation experiment with humans.},
	author = {D. Sieber and S. Music and S. Hirche}
}
@conference {AyanianControlling2014,
	title = {Controlling a Team of Robots from a Single Input},
	booktitle = {IEEE Int{\textquoteright}l Conf. Robotics and Automation},
	year = {2014},
	month = {Jun},
	pages = {1755 - 1762},
	address = {Hong Kong},
	author = {Nora Ayanian and Andrew Spielberg and Matthew Arbesfeld and Jason Strauss and Daniela Rus}
}
@conference {HausmanCooperative2014,
	title = {Cooperative Control for Target Tracking with Onboard Sensing},
	booktitle = {International Symposium of Robotics Research},
	year = {2014},
	month = {Jun},
	address = {Morocco},
	author = {Karol Hausman and Joerg Mueller and Abishek Hariharan and Nora Ayanian and Gaurav Sukhatme}
}
@article {194,
	title = {Decomposition frameworks for cooperative manipulation of a planar rigid body with multiple unilateral thrusters},
	journal = {Nonlinear Dynamics},
	volume = {79},
	year = {2014},
	pages = {31{\textendash}46},
	abstract = {In this paper, we consider cooperative manipulation of a planar rigid body using multiple actuator agents{\textendash}-unilateral thrusters, each attached to the body and each able to apply an unilateral force to the body. Generally, the dynamics of the body manipulated with uncoordinated forces of thrusters is nonlinear. The problem we consider is how to design the unilateral force each agent applies to ensure the decoupling and linearity of the linear and angular (i.e., translational and rotational) accelerations of the body and thus allow a controller to be designed in a simpler manner, instead of developing sophisticated nonlinear control techniques. Here consider two types of unilateral thrusters with (i) all fixed directions, and (ii) all non-fixed directions, respectively. To address the problem, we design two decomposition frameworks, each with its advantages, on the structure of the forces and control policy such that (i) the linear and angular accelerations of the body are decoupled and controlled independently, and (ii) the control that ensures the forces to be unilateral (only for thrusters with non-fixed directions) is independent from the linear and angular accelerations. As a result, the closed-loop dynamics of the body is linear with respect to both the linear and angular accelerations; thus the control of the body becomes trivial, which may provide a convenient and alternative methodology for design of a physical system with a quick estimation and reference of the manipulated forces required.},
	issn = {1573-269X},
	doi = {10.1007/s11071-014-1643-3},
	url = {http://dx.doi.org/10.1007/s11071-014-1643-3},
	author = {Li, Wei and Spong, Mark W.}
}
@conference {160,
	title = {Dynamic Movement Primitives for Cooperative Manipulation and Synchronized Motions},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2014},
	author = {J. Umlauft and D. Sieber and S. Hirche}
}
@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}
}
@article {401,
	title = {On the Vulnerabilities of the Virtual Force Approach to Mobile Sensor Deployment},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {13},
	year = {2014},
	pages = {2592-2605},
	author = {N. Bartolini and G. Bongiovanni and T. F. La Porta and S. Silvestri}
}
@article {34,
	title = {Decentralized connectivity maintenance for cooperative control of mobile robotic systems},
	journal = {The International Journal of Robotics Research (SAGE)},
	volume = {32},
	year = {2013},
	month = {October},
	pages = {1411-1423},
	issn = {1741-3176},
	author = {Lorenzo Sabattini and Nikhil Chopra and Cristian Secchi}
}
@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 {48,
	title = {Hierarchical Visibility for Guaranteed Search in Large-Scale Outdoor Terrain},
	journal = {JAAMAS},
	volume = {26},
	year = {2013},
	pages = {1{\textendash}36},
	abstract = {Searching for moving targets in large environments is a challenging task that is relevant in several problem domains, such as capturing an invader in a camp, guarding security facilities, and searching for victims in large-scale search and rescue scenarios. The guaranteed search problem is to coordinate the search of a team of agents to guarantee the discovery of all targets. In this paper we present a self-contained solution to this problem in 2.5D real-world domains represented by digital elevation models (DEMs). We introduce hierarchical sampling on DEMs for selecting heuristically the close to minimal set of locations from which the entire surface of the DEM can be guarded. Locations are utilized to form a search graph on which search strategies for mobile agents are computed. For these strategies schedules are derived which include agent paths that are directly executable in the terrain. Presented experimental results demonstrate the performance of the method. The practical feasibility of our approach has been validated during a field experiment at the Gascola robot training site where teams of humans equipped with iPads successfully searched for adversarial and omniscient evaders. The field demonstration is the largest-scale implementation of a guaranteed search algorithm to date.},
	keywords = {Exploration, guaranteed search, HRI, Human{\textendash}robot-interaction, Moving target search, path planning, pursuit-evasion, task allocation},
	issn = {1387-2532},
	doi = {10.1007/s10458-011-9180-7},
	url = {http://dx.doi.org/10.1007/s10458-011-9180-7},
	author = {Kleiner, A. and Kolling, A. and Lewis, M. and Sycara, K.}
}
@inbook {170,
	title = {How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue?},
	booktitle = {RoboCup 2012: Robot Soccer World Cup XVI},
	series = {Lecture Notes in Computer Science},
	number = {7500},
	year = {2013},
	pages = {106{\textendash}117},
	publisher = {Springer},
	organization = {Springer},
	chapter = {How Much Worth Is Coordination of Mobile Robots for Exploration in Search and Rescue?},
	address = {Berlin, Heidelberg},
	abstract = {Exploration of unknown environments is an enabling task for several applications, including map building and search and rescue. It is widely recognized that several benefits can be derived from deploying multiple mobile robots in exploration, including increased robustness and efficiency. Two main issues of multirobot exploration are the exploration strategy employed to select the most convenient observation locations the robots should reach in a partially known environment and the coordination method employed to manage the interferences between the actions performed by robots. From the literature, it is difficult to assess the relative effects of these two issues on the system performance. In this paper, we contribute to filling this gap by studying a search and rescue setting in which different coordination methods and exploration strategies are implemented and their contributions to an efficient exploration of indoor environments are comparatively evaluated. Although preliminary, our experimental data lead to the following results: the role of exploration strategies dominates that of coordination methods in determining the performance of an exploring multirobot system in a highly structured indoor environment, while the situation is reversed in a less structured indoor environment.},
	keywords = {coordination, Exploration, multirobot, Search and Rescue},
	isbn = {978-3-642-39250-4},
	doi = {10.1007/978-3-642-39250-4_11},
	url = {http://dx.doi.org/10.1007/978-3-642-39250-4_11},
	author = {Amigoni, Francesco and Basilico, Nicola and Quattrini~Li, Alberto},
	editor = {Chen, Xiaoping and Stone, Peter and Sucar, Luis Enrique and Zant, Tijn}
}
@conference {163,
	title = {An impedance-based control architecture for multi-robot cooperative dual-arm mobile manipulation},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2013},
	address = {Tokyo},
	doi = {10.1109/IROS.2013.6696370},
	url = {;},
	author = {S. Erhart and D. Sieber and S. Hirche}
}
@conference {SungImproving2013,
	title = {Improving the Performance of Multi-Robot Systems by Task Switching},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2013},
	month = {May},
	pages = {2984 - 2991},
	address = {Karlsruhe, Germany},
	author = {Cynthia Sung and Nora Ayanian and Daniela Rus}
}
@conference {364,
	title = {Improving the performance of multi-robot systems by task switching},
	booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation},
	year = {2013},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Karlsruhe, Germany},
	isbn = {978-1-4673-5641-1},
	doi = {10.1109/ICRA.2013.6630993},
	url = {http://ieeexplore.ieee.org/document/6630993/http://xplorestaging.ieee.org/ielx7/6615630/6630547/06630993.pdf?arnumber=6630993},
	author = {Sung, Cynthia and Ayanian, Nora and Rus, Daniela}
}
@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 {136,
	title = {Mutual Localization in Multi-Robot Systems using Anonymous Relative Measurements},
	journal = {The International Journal of Robotics Research},
	volume = {32},
	year = {2013},
	month = {09/2013},
	pages = {1303-1322},
	abstract = {We propose a decentralized method to perform mutual localization in multi-robot systems using anonymous relative measurements, i.e., measurements that do not include the identity of the measured robot. This is a challenging and practically relevant operating scenario that has received little attention in the literature. Our mutual localization algorithm includes two main components: a probabilistic multiple registration stage, which provides all data associations that are consistent with the relative robot measurements and the current belief, and a dynamic filtering stage, which incorporates odometric data into the estimation process. The design of the proposed method proceeds from a detailed formal analysis of the implications of anonymity on the mutual localization problem. Experimental results on a team of differential-drive robots illustrate the effectiveness of the approach, and in particular its robustness against false positives and negatives that may affect the robot measurement process. We also provide an experimental comparison that shows how the proposed method outperforms more classical approaches that may be designed building on existing techniques. The source code of the proposed method is available within the MLAM ROS stack.},
	keywords = {Localization of ground robots},
	author = {Antonio Franchi and Giuseppe Oriolo and Paolo Stegagno}
}
@article {137,
	title = {A Passivity-Based Decentralized Strategy for Generalized Connectivity Maintenance},
	journal = {The International Journal of Robotics Research},
	volume = {32},
	year = {2013},
	month = {03/2013},
	pages = {299-323},
	abstract = {The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, connectivity of the underlying interaction graph plays a fundamental role: it represents a necessary condition for allowing a group or robots achieving a common task by resorting to only local information. Goal of this paper is to present a novel decentralized strategy able to enforce connectivity maintenance for a group of robots in a flexible way, that is, by granting large freedom to the group internal configuration so as to allow establishment/deletion of interaction links at anytime as long as global connectivity is preserved. A peculiar feature of our approach is that we are able to embed into a unique connectivity preserving action a large number of constraints and requirements for the group: (i) presence of specific inter-robot sensing/communication models, (ii) group requirements such as formation control, and (iii) individual requirements such as collision avoidance. This is achieved by defining a suitable global potential function of the second smallest eigenvalue λ2 of the graph Laplacian, and by computing, in a decentralized way, a gradient-like controller built on top of this potential. Simulation results obtained with a group of quadorotor UAVs and UGVs, and experimental results obtained with four quadrotor UAVs, are finally presented to thoroughly illustrate the features of our approach on a concrete case study.},
	keywords = {Bilateral Shared Control of Mobile Robots, Connectivity maintenance, Motion control of multiple robots},
	author = {Paolo Robuffo Giordano and Antonio Franchi and Cristian Secchi and Heinrich H. B{\"u}lthoff}
}
@conference {43,
	title = {RMASBench: Benchmarking Dynamic Multi-Agent Coordination in Urban Search and Rescue},
	booktitle = {Proc. of the 12th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2013)},
	year = {2013},
	abstract = {We propose RMASBench, a new benchmarking tool based on the RoboCup Rescue Agent simulation system, to easily compare coordination approaches in a dynamic rescue scenario. In particular, we offer simple interfaces to plug-in coordination algorithms without the need for implementing and tuning low-level agents behaviors. Moreover, we add to the realism of the simulation by providing a large scale crowd simulator, which exploits GPUs parallel architecture, to simulate the behavior of thousands of agents in real time. Finally, we focus on a specific coordination problem where fire fighters must combat fires and prevent them from spreading across the city. We formalize this problem as a Distributed Constraint Optimization Problem and we compare two state-of-the art solution techniques: DSA and MaxSum. We perform an extensive empirical evaluation of such techniques considering several standard measures for performance (e.g. damages to buildings) and coordination overhead (e.g., message exchanged and non concurrent constraint checks). Our results provide interesting insights on limitations and benefits of DSA and MaxSum in our rescue scenario and demonstrate that RMASBench offers powerful tools to compare coordination algorithms in a dynamic environment.},
	keywords = {agent coordination, agent simulation, DCOP, performance metrics},
	isbn = {978-1-4503-1993-5},
	url = {http://dl.acm.org/citation.cfm?id=2484920.2485139},
	author = {A. Kleiner and A. Farinelli and S. Ramchurn and B. Shi and F. Maffioletti and R. Reffato}
}
@conference {404,
	title = {On the security vulnerabilities of the virtual force approach to mobile sensor deployment},
	booktitle = {2013 Proceedings IEEE INFOCOM},
	year = {2013},
	author = {N. Bartolini and G. Bongiovanni and T. L. Porta and S. Silvestri}
}
@article {138,
	title = {Semi-Autonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles},
	journal = {IEEE/ASME Transaction on Mechatronics, Focused Section on Aerospace Mechatronics},
	volume = {18},
	year = {2013},
	month = {08/2013},
	pages = {1334-1345},
	abstract = {We propose a novel semi-autonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP{\textquoteright}s motion according to the teleoperation commands and local artificial potentials (for VP-VP/VP-obstacle collision avoidance and VP-VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs{\textquoteright} velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master-passivity/slave-stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.},
	keywords = {Bilateral Shared Control of Mobile Robots, Motion control of multiple robots, UAV hardware platforms},
	author = {Dongjun Lee and Antonio Franchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@conference {146,
	title = {3D Mutual Localization with Anonymous Bearing Measurements},
	booktitle = {2012 IEEE Int. Conf. on Robotics and Automation},
	year = {2012},
	month = {05/2012},
	address = {St. Paul, MN},
	abstract = {We present a decentralized algorithm for estimating mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measurements coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bear- ing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case, and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs.},
	keywords = {Distributed algorithms, Estimation, Localization, Localization of aerial robots, Multi-robot systems},
	author = {Marco Cognetti and Paolo Stegagno and Antonio Franchi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff}
}
@article {141,
	title = {Bilateral Teleoperation of Groups of Mobile Robots with Time-Varying Topology},
	journal = {IEEE Transaction on Robotics},
	volume = {28},
	year = {2012},
	month = {10/2012},
	pages = {1019	-1033},
	abstract = {In this paper, a novel decentralized control strategy for bilaterally teleoperating heterogeneous groups of mobile robots from different domains (aerial, ground, marine and under- water) is proposed. By using a decentralized control architecture, the group of robots, treated as the slave-side, is made able to navigate in a cluttered environment while avoiding obstacles, inter-robot collisions and following the human motion commands. Simultaneously, the human operator acting on the master side is provided with a suitable force feedback informative of the group response and of the interaction with the surrounding environment. Using passivity based techniques, we allow the behavior of the group to be as flexible as possible with arbitrary split and join events (e.g., due to inter-robot visibility/packet losses or specific task requirements) while guaranteeing the stability of the system. We provide a rigorous analysis of the system stability and steady-state characteristics, and validate performance through human/hardware-in-the-tloop simulations by considering a heterogeneous fleet of UAVs and UGVs as case study. Finally, we also provide an experimental validation with 4 quadrotor UAV},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Distributed algorithms, Force feedback, Haptics, Motion control of multiple robots, Multi-robot systems, Teleoperation},
	author = {Antonio Franchi and Cristian Secchi and Hyoung Il Son and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@article {402,
	title = {Sensor Activation and Radius Adaptation (SARA) in Heterogeneous Sensor Networks},
	journal = {ACM Trans. Sen. Netw.},
	volume = {8},
	year = {2012},
	keywords = {Area coverage, heterogeneous devices, variable radii, wireless sensor networks},
	issn = {1550-4859},
	doi = {10.1145/2240092.2240098},
	url = {https://doi.org/10.1145/2240092.2240098},
	author = {N. Bartolini and Calamoneri, Tiziana and La Porta, Tom and Petrioli, Chiara and Silvestri, Simone}
}
@article {139,
	title = {Shared Control: Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs.},
	journal = {IEEE Robotics and Automation Magazine, Special Issue on Aerial Robotics and the Quadrotor Platform},
	volume = {19},
	year = {2012},
	month = {09/2012},
	pages = {57-68},
	abstract = {In this paper, we present a complete control framework and associated experimental testbed for the bilateral shared control of a group of quadrotor UAVs. This control architecture is applicable to any task and allows to integrate: i) a decentralized topological motion control (responsible for the mutual interactions in the UAV formation), ii) a human assistance module (allowing human intervention, whenever needed, on some aspects of the UAV group behavior), and iii) a force-feedback possibility (increasing the telepresence of the human assistants by providing suitable haptic cues informative of the UAV behavior). We will show, as worked-out case studies, how to specialize the topological motion controller to the relevant cases of constant, unconstrained and connected group topologies, and how to let a human operator intervening at the level of single UAVs or of the whole group dynamics. A detailed description of the experimental testbed is also provided with emphasis on the quadrotor UAV hardware and software architectures. Finally, the versatility of the proposed framework is demonstrated by means of experiments with real UAVs. Although quadrotors are used as actual robotic platforms, the proposed framework can be straightforwardly extended to many different kinds of UAVs with similar motion characteristics.},
	keywords = {Bilateral Shared Control of Mobile Robots, Decentralized control, Force feedback, Formation control, Haptics, Middleware for robotics, Motion control of multiple robots, Multi-robot systems, UAV hardware platforms},
	author = {Antonio Franchi and Cristian Secchi and Markus Ryll and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
@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.}
}
@conference {47,
	title = {ARMO: Adaptive Road Map Optimization for Large Robot Teams},
	booktitle = {IROS},
	year = {2011},
	address = {San Fransisco, USA},
	abstract = {Autonomous robot teams that simultaneously dispatch transportation tasks are playing more and more an important role in present logistic centers and manufacturing plants. In this paper we consider the problem of robot motion planning for large robot teams in the industrial domain. We present adaptive road map optimization (ARMO) that is capable of adapting the road map in real time whenever the environment has changed. Based on linear programming, ARMO computes an optimal road map according to current environmental constraints (including human whereabouts) and the current demand for transportation tasks from loading stations in the plant. For detecting dynamic changes, the environment is describe by a grid map augmented with a hidden Markov model (HMM). We show experimentally that ARMO outperforms decoupled planning in terms of computation time and time needed for task completion.},
	isbn = {978-1-61284-454-1},
	doi = {10.1109/IROS.2011.6048339},
	author = {A. Kleiner and D. Sun and D. Meyer-Delius}
}
@article {403,
	title = {Autonomous Deployment of Heterogeneous Mobile Sensors},
	journal = {IEEE Transactions on Mobile Computing},
	volume = {10},
	year = {2011},
	pages = {753-766},
	author = {N. Bartolini and T. Calamoneri and T. F. La Porta and S. Silvestri}
}
@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 {179,
	title = {A Generic Framework for Distributed Multirobot Cooperation},
	journal = {Journal of Intelligent and Robotic Systems},
	volume = {63},
	year = {2011},
	pages = {323-358},
	author = {Sanem Sariel-Talay and Tucker R. Balch and Nadia Erdogan}
}
@conference {145,
	title = {Mutual Localization using Anonymous Bearing Measurements},
	booktitle = {2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2011},
	month = {09/2011},
	address = {San Francisco, CA},
	abstract = {This paper addresses the problem of mutual localization in multi-robot systems in presence of anonymous (i.e., without the identity information) bearing-only measurements. The solution of this problem is relevant for the design and implementation of any decentralized multi-robot algorithm/control. A novel algorithm for probabilistic multiple registration of these measurements is presented, where no global localization, distances, or identity are used. With respect to more conventional solutions that could be conceived on the basis of the current literature, our method is theoretically suitable for tasks requiring frequent, many-to-many encounters among agents (e.g., formation control, cooperative exploration, multiple-view environment sensing). An extensive experimental study validates our method and compares it with the fullinformative case of bearing plus-distance measurements. The results show that the proposed localization system exhibits an accuracy commensurate to our previous method [1] which uses bearing-plus-distance information.},
	keywords = {Distributed algorithms, Estimation, Localization, Multi-robot systems},
	author = {Paolo Stegagno and Marco Cognetti and Antonio Franchi and Giuseppe Oriolo}
}
@inbook {NA:VK:DK:ISRR09,
	title = {Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints},
	booktitle = {Robotics Research},
	series = {Springer Tracts in Advanced Robotics},
	volume = {70},
	year = {2011},
	pages = {625-642},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	author = {Nora Ayanian and Kumar, Vijay and Koditschek, Daniel},
	editor = {Pradalier, C{\'e}dric and Siegwart, Roland and Hirzinger, Gerhard}
}
@conference {405,
	title = {Autonomous deployment of heterogeneous mobile sensors},
	booktitle = {2009 17th IEEE International Conference on Network Protocols},
	year = {2009},
	author = {N. Bartolini and T. Calamoneri and T. La Porta and A. Massini and S. Silvestri}
}
@article {180,
	title = {Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution},
	journal = {Mechatronics, IEEE/ASME Transactions on},
	volume = {14},
	year = {2009},
	pages = {198-206},
	keywords = {Distributed multirobot task allocation, dynamic task selection scheme, incremental task allocation, incremental task selection, mobile robots, Multi-robot systems, multiple traveling robot problem, multiple traveling robot problem (MTRP), NP-hard multiple traveling salesman problem, path planning, priority-based rough schedules, Robust Control, robust execution, robustness, travelling salesman problems},
	issn = {1083-4435},
	doi = {10.1109/TMECH.2009.2014157},
	author = {Sanem Sariel-Talay and Tucker R. Balch and Nadia Erdogan}
}
@article {181,
	title = {Naval Mine Countermeasure Missions},
	journal = {Robotics Automation Magazine, IEEE},
	volume = {15},
	year = {2008},
	pages = {45-52},
	keywords = {Analytical models, autonomous underwater vehicles, AUV, communication windows, Delay, DEMiR-CF framework, distributed incremental multirobot task selection scheme, Land vehicles, mobile robots, Multi-robot systems, multirobot-cooperation framework, naval engineering, naval mine countermeasure missions, online dynamic task allocation system, Performance analysis, remotely operated vehicles, scheduling, Sea floor, Sonar detection, task execution, task scheduling, undersea operations, Underwater communication, underwater vehicles, unmanned aerial vehicles},
	issn = {1070-9932},
	doi = {10.1109/M-RA.2007.914920},
	author = {Sanem Sariel and Tucker Balch and Nadia Erdogan}
}
@conference {184,
	title = {Incremental multi-robot task selection for resource constrained and interrelated tasks},
	booktitle = {Proceedings of The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	keywords = {coordinated task selection problem, Intelligent robots, interrelated tasks, Multi-robot systems, multi-robot task selection, Notice of Violation, Performance evaluation, resource constrained tasks, Resource management, Robot kinematics, Robot sensing systems, Robotics and automation, Runtime, scheduling, USA Councils},
	doi = {10.1109/IROS.2007.4399519},
	author = {Sanem Sariel and Tucker Balch and Nadia Erdogan}
}
@inbook {182,
	title = {A Distributed Multi-robot Cooperation Framework for Real Time Task Achievement},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {187-196},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch},
	editor = {Gini, Maria and Voyles, Richard}
}
@conference {186,
	title = {Efficient Bids on Task Allocation for Multi-Robot Exploration},
	booktitle = {Proceedings of The 19th International Florida Artificial Intelligence Research Society Conference (FLAIRS)},
	year = {2006},
	author = {Sanem Sariel and Tucker Balch}
}
@inbook {183,
	title = {Empirical Evaluation of Auction-Based Coordination of AUVs in a Realistic Simulated Mine Countermeasure Task},
	booktitle = {Distributed Autonomous Robotic Systems 7},
	year = {2006},
	pages = {197-206},
	publisher = {Springer},
	organization = {Springer},
	isbn = {978-4-431-35878-7},
	doi = {10.1007/4-431-35881-1_19},
	url = {http://dx.doi.org/10.1007/4-431-35881-1_19},
	author = {Sanem Sariel and Tucker Balch and Jason Stack},
	editor = {Gini, Maria and Voyles, Richard}
}
@conference {185,
	title = {Robust Multi-Robot Cooperation Through Dynamic Task Allocation and Precaution Routines},
	booktitle = {The 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
	year = {2006},
	address = {Setubal, Portugal},
	author = {Sanem Sariel and Tucker Balch}
}
@conference {187,
	title = {Real Time Auction Based Allocation of Tasks for Multi-Robot Exploration Problem in Dynamic Environments},
	booktitle = {Integrating Planning into Scheduling: Papers from the 2005 AAAI Workshop, ed. Mark Boddy, Amedeo Cesta, and Stephen F. Smith, American Association for Artificial Intelligence (AAAI)},
	year = {2005},
	author = {Sanem Sariel and Tucker Balch}
}
