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.

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.

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.

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.  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.