Publications 2000-2009

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2009

E. Stump, V. Kumar, B. Grocholsky, and P. Shiroma, “Control for Localization of Targets using Range-only Sensors,” International Journal of Robotics Research, vol. 28, iss. 6, p. 743–757, 2009.

P. Cheng, J. Fink, and V. Kumar, “Cooperative Towing with Multiple Robots,” ASME Transactions: Journal of Mechanisms and Robotics, vol. 1, 2009.

K. A. J. Fink N. Michael and V. Kumar, “Experimental Characterization of Radio Signal Propagation in Indoor Environments with Application to Estimation and Control,” in International Conference on Intelligent Robot Systems (IROS), St. Louis, Missouri, 2009.

S. Berman, A. Halasz, A. M. Hsieh, and V. Kumar, “Optimized Stochastic Policies for Task Allocation in Swarms of Robots,” IEEE Transactions on Robotics, 2009.

N. Michael and V. Kumar, “Planning and Control of Ensembles of Robots with Nonholonomic Constraints,” International Journal of Robotics Research, vol. 28, iss. 8, pp. 962-975, 2009.

K. V. N. Ayanian and D. Koditschek, “Synthesis of Controllers to Create, Maintain and Reconfigure Robot Formations with Communication Constraints,” in International Symposium on Robotics Research, Lucerne, Switzerland, 2009.

J-Y. Sul, C. K. Wu, F. Zeng, J. Jochems, M. T. Lee, T. K. Kim, T. Peritz, P. Buckley, D. Cappelleri, M. Maronski, M. Kim, V. Kumar, D. Meaney, J. Kim, and J. Eberwine, “Transcriptome Transfer Produces a Predictable Cellular Phenotype,” Proceedings of the National Academy of Science, 2009.

2008

P. Cheng, J. Fink, and V. Kumar, “Abstractions and Algorithms for Cooperative Multiple Robot Planar Manipulation,” in Robotics: Science and Systems (RSS), Zurich, Switzerland, 2008.

P. Cheng and V. Kumar, “An Almost Communication-Less Approach to Task Allocation for Multiple Unmanned Aerial Vehicles,” in Proceedings IEEE International Conference on Robotics and Automation, 2008.

A. M. Hsieh, Ádám. Halász, S. Berman, and V. Kumar, “Biologically inspired redistribution of a swarm of robots among multiple sites,” Swarm Intelligence,, vol. 2, iss. 2-4, 2008.

E. Stump, A. Jadbabaie, and V. Kumar, “Connectivity Management in Robot Networks,” in IEEE International Conference on Robotics and Automation (ICRA), Pasedena, CA, 2008.

L. Pimenta, N. Michael, R. Mesquita, G. Pereira, and V. Kumar, “Control of Swarms Based on Hydrodynamic Models,” in Proceedings of the IEEE International Conference on Robotics and Automation, Pasadena, CA, USA, 2008, p. 1948–1953.

L. C. A. Pimenta, N. Michael, R. C. Mesquita, G. A. S. Pereira, and V. Kumar, “Control of Swarms Based on Hydrodynamic Models,” in Proc. IEEE Int. Conf. Robot. Automat., Pasadena, CA, 2008, pp. 1948-1953.

A. A. Julius, Á. Halász, S. Sakar, V. Kumar, and G. J. Pappas, “Controlling biological systems: the lactose regulation system of E.coli,” IEEE Trans. Automatic Control and IEEE Trans. Circuit and Systems, joint special issue on Systems Biology, 2008.

N. Michael, J. Fink, and V. Kumar, “Controlling Ensembles of Robots via a Supervisory Aerial Robot,” Advanced Robotics, vol. 22, pp. 1361-1377, 2008.

N. Michael and V. Kumar, “Controlling Shapes of Ensembles of Robots of Finite Size with Nonholonomic Constraints,” in Robotics: Science and Systems, Zurich, Switzerland, 2008.

J. Fink, P. Cheng, and V. Kumar, “Cooperative Towing with Multiple Robots,” in ASME 2008 IDETC/CIE, New York, NY, 2008.

A. M. Hsieh, V. Kumar, and L. Chaimowicz, “Decentralized controllers for shape generation with robotic swarms,” Robotica, vol. 26, iss. 5, pp. 691-701, 2008.

N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas, “Distributed Multi-Robot Task Assignment and Formation Control,” in Proc. IEEE Int. Conf. Robot. Automat., Pasadena, CA, 2008, pp. 128-133.

N. Michael, J. Fink, and V. Kumar, “Experimental Testbed for Large Multi-Robot Teams: Verification and Validation,” IEEE Robotics and Automation Magazine, vol. 15, iss. 1, pp. 53-61, 2008.

N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas, “Maintaining Connectivity in Mobile Robot Networks,” in Int. Symposium on Experimental Robotics, Athens, Greece, 2008.

M. A. Hsieh, A. Cowley, V. Kumar, and C. J. Talyor, “Maintaining Network Connectivity and Performance in Robot Teams,” Journal of Field Robotics, vol. 25, iss. 1, pp. 111-131, 2008.

J. Fink, A. M. Hsieh, and V. Kumar, “Multi-Robot Manipulation via Caging in Environments with Obstacles,” in IEEE International Conference on Robotics and Automation (ICRA), Pasedena, CA, 2008.

S. Berman, A. Halasz, A. M. Hsieh, and V. Kumar, “Navigation-Based Optimization of Stochastic Deployment Strategies for a Robot Swarm to Multiple Sites,” in 2008 Conference on Decision and Control (CDC’08, 2008.

H. Kress-Gazit, N. Ayanian, G. Pappas, and V. Kumar, “Recycling Controllers,” in IEEE Conference on Automation Science and Engineering, Washington, DC, 2008.

P. Cheng and V. Kumar, “Sampling-based falsification and verification of controllers for continuous dynamic systems,” Int. Journal Robotics Research, vol. 27, iss. 11-12, pp. 1232-1245, 2008.

L. Pimenta, V. Kumar, R. Mesquita, and G. Pereira, “Sensing and Coverage for a Network of Heterogeneous Robots,” in Proceedings of the 47th IEEE Conference on Decision and Control, 2008, p. 1–8.

L. Pimenta, M. Schwager, Q. Lindsey, V. Kumar, and D. Rus, “Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks,” in Proc. of the 8th Int. Workshop on the Algorithmic Foundation of Robotics, Guanajuato, Mexico, 2008.

N. Ayanian, P. White, A. Halasz, M. Yim, and V. Kumar, “Stochastic Control for Self-Assembly of XBots,” in ASME Mechanisms and Robotics Conference, New York, NY, 2008.

P. Cheng, J. Keller, and V. Kumar, “Time-Optimal UAV Trajectory Planning for 3D Urban Structure Coverage,” in Int. Conference on Intelligent Robots and Systems, 2008.

V. Kumar, O. Khatib, and G. Pappas, 11th International Symposium on Experimental Robotics, Springer-Verlag, 2008.

V. Kumar, G. A. Bekey, R. Ambrose, D. Lavery, D. Sanderson, J. Yuh, and B. Wilcox, Robotics: State of the Art and Future Challenges, Imperial College Press, 2008.

2007

K. Goldberg and V. Kumar, “”Made in the USA” Can Make a Comeback,” San Jose Mercury News, 2007.

M. A. Hsieh, A. Cowley, J. F. Keller, L. Chaimowicz, B. Grocholsky, V. Kumar, C. J. Talyor, Y. Endo, R. Arkin, B. Jung, D. Wolf, G. Sukhatme, and D. C. MacKenzie, “Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness,” Journal of Field Robotics, vol. 24, iss. 11-12, pp. 991-1014, 2007.

A. Halasz, V. Kumar, M. Imielinski, C. Belta, O. Sokolsky, S. Pathak, and H. Rubin, “Analysis of Lactose Metabolism in E.coli using Reachability Analysis of Hybrid Systems,” IET Systems Biology, vol. 1, iss. 2, pp. 61-148, 2007.

N. Michael, J. Fink, S. G. Loizou, and V. Kumar, “Architecture, Abstractions, and Algorithms for Controlling Large Teams of Robots: Experimental Testbed and Results,” in Int. Symposium on Robotics Research, Hiroshima, Japan, 2007.

S. Berman, A. Halasz, V. Kumar, and S. Pratt, “Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations,” in International Conf. on Robotics and Automation, Rome, Italy, 2007.

S. G. Loizou and V. Kumar, “Biologically inspired bearing-only navigation and tracking,” in Decision and Control, 2007 46th IEEE Conference on, 2007, p. 1386–1391.

N. Michael, J. Fink, and V. Kumar, “Composition of Vector Fields for Multi-Robot Manipulation via Caging,” in Robotics Science and Systems, Atlanta, GA, 2007.

N. Michael, J. Fink, and V. Kumar, “Controlling a Team of Ground Robots via an Aerial Robot,” in IEEE International Conference on Intelligent Robots and Systems, San Diego, CA, 2007.

S. Berard, J. C. Trinkle, B. Nguyen, B. Roghani, V. Kumar, and J. Fink, “daVinci Code: A Multi-Model Simulation and Analysis Tool for Multi-Body Systems,” in IEEE International Conference on Robotics and Automation, 2007, p. 2588–2593.

A. Halasz, A. M. Hsieh, S. Berman, P. I. I. C. I. R. 2007. of the on Vijay Kumar Dynamic Redistribution of a Swarm of Robots Among Multiple Sites, and C. Systems (IROS’07). San Diego, “Dynamic Redistribution of a Swarm of Robots Among Multiple Sites,” in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, CA., 2007.

J. M. Esposito and V. Kumar, “Event detection near singularities,” ACM Transactions on Modeling and Computer Simulation, vol. 17, iss. 1, pp. 1-22, 2007.

S. Parikh, V. Grassi, and V. Kumar, “Integrating Human Inputs with Autonomous Behaviors on an Intelligent Wheelchair Platform,” IEEE Intelligent Systems: Special Issue on Interacting with Autonomy, vol. 22, iss. 2, 2007.

D. Theodorakatos, E. Stump, and V. Kumar, “Kinematics and Pose Estimation for Cable-Actuated Parallel Manipulators,” in ASME International Design Engineering Technical Conferences, Las Vegas, Nevada, 2007.

M. S. Sakar, E. Steager, A. Julius, V. Kumar, M. J. Kim, and G. Pappas, “Microfabricated Structures Powered by Flagellated Bacteria,” in 8th International Conference on Systems Biology, 2007.

[DOI] S. G. Loizou and V. Kumar, “Mixed Initiative Control of Autonomous Vehicles,” in Robotics and Automation, 2007 IEEE International Conference on, 2007, pp. 1431-1436.

J. S. Pang, V. Kumar, and J. C. Trinkle, “On a Continuous-Time Quasistatic Frictional Contact Model with Local Compliance” , 2007.

P. Cheng, D. Cappelleri, B. Gavrea, and V. Kumar, “Planning and Control of Meso-scale Manipulation Tasks with Uncertainties,” in Robotics: Science and Systems, 2007.

D. J. Cappelleri, J. F. Keller, T. Kientz, P. Szczesniak, and V. Kumar, “SAAST Robotics – An Intensive Three Week Robotics Program for High School Students,” in ASME International Design Engineering Technical Conferences, Las Vegas, NV, 2007.

M.~A.~Hsieh, S.~G.~Loizou, and V.~Kumar, “Stabilization of Multiple Robots on Stable Orbits via Local Sensing,” in IEEE International Conference on Robotics and Automation, 2007.

2006

S. Berman, A. Halasz, V. Kumar, and S. Pratt, “Algorithms for the Analysis and Synthesis of a Bio-Inspired Swarm Robotic System,” in International Workshop on Swarm Robotics (SAB ’06), Rome, Italy, 2006.

B. Grocholsky, E. Stump, and V. Kumar, “An Extensive Representation for Range-Only SLAM,” in International Symposium on Experimental Robotics, Rio de Janeiro, 2006.

N. Michael, C. Belta, and V. Kumar, “Controlling Three-Dimensional Swarms of Robots,” in IEEE Int’l Conf. on Robotics and Automation, Orlando, Florida, 2006.

J. S. Pang, V. Kumar, and P. Song, “Convergence of Time-Stepping Method for Initial and Boundary-Value Frictional Compliant Contact Problems,” SIAM J. Numerical Analysis, vol. 43, iss. 5, pp. 2200-2206, 2006.

B. Grocholsky, J. Keller, V. Kumar, and G. Pappas, “Cooperative air and ground surveillance,” IEEE Robotics and Automation Magazine, vol. 13, iss. 3, pp. 16-25, 2006.

A. Ahmadzadeh, G. Buchman, P. Cheng, A. Jadbabaie, J. Keller, V. Kumar, and G. Pappas, “Cooperative control of UAVs for Search and Coverage,” in AUVSI Unmanned Systems Conference, 2006.

A. Ahmadzadeh, J. Keller, G. J. Pappas, A. Jadbabaie, and V. Kumar, “Critical Cooperative Surveillance and Coverage with Unmanned Aerial Vehicles,” in International Symposium on Experimental Robotics, Rio de Janeiro, 2006.

D. Cappelleri, J. Fink, B. Munkundakrisnam, V. Kumar, and J. C. Trinkle, “Designing Open-Loop Plans for Planar Micro-Manipulation,” in Proc. IEEE Int. Conf. Robot. Automat., 2006, p. 637–642.

E. Stump, B. Grocholsky, and V. Kumar, “Extensive Representations and Algorithms for Nonlinear Filtering and Estimation,” in Workshop on Algorithmic Foundations of Robotics, New York City, 2006.

A. Julius, A. Halasz, V. Kumar, and G. Pappas, “Finite State Abstraction of a Stochastic Model of the Lactose Regulation Systems of it E.coli Bacteria,” in Proceedings 45th IEEE Conf. Decision Contr., San Francisco, 2006.

D. Solomon, V. Kumar, R. A. Jenkins, and J. Jewell, “Head control strategies during whole-body turns,” Experimental Brain Research, vol. 173, iss. 2, 2006.

M. A. Hsieh and V. Kumar, “Pattern generation with multiple robots,” in IEEE Int’l Conf. on Robotics and Automation, Orlando, Florida, 2006.

S. Loizou and V. Kumar, “Relaxed Input to State Stability Properties for Navigation Function Based Systems,” in Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, 2006.

A.~Hsieh, A. Cowley, V.~Kumar, and C. J. Taylor, “Towards the deployment of a mobile robot network with end-to-end performance guarantees,” in IEEE Int’l Conf. on Robotics and Automation, Orlando, Florida, 2006.

E. Stump and V. Kumar, “Workspaces of Cable-Actuated Parallel Manipulators,” ASME Journal of Mechanical Design, vol. 128, 2006.

V. Kumar, O. Khatib, and D. Rus, 10th International Symposium on Experimental Robotics, Springer-Verlag, 2006. “”

G. Bekey, R. Ambrose, V. Kumar, A. Sanderson, B. Wilcox, and Y. Zheng, Assessment of International Research and Development in Robotics, World Trade Evaluation Corporation, 2006. “”

2005

P. Song, V. Kumar, J. C. Trinkle, and J. S. Pang, “A Family of Models for Manipulation Planning,” in Proc. Int. Symposium on Assembly and Task Planning, 2005, p. 236–241.

B. Mukundakrishnan, V. Kumar, P. Song, J. C. Trinkle, and J. S. Pang, “A Hierarchical Approach for Design and Assembly of Mechanisms,” in ASME International Design Engineering Technical Conference, 2005.

P. Song, V. Kumar, and J. S. Pang, “A Two-Point Boundary-Value Approach for Planning Manipulation Tasks,” in Robotics Science and Systems, Cambridge, Massachusetts, 2005.

V. Kumar, “An International Assessment of the State-of-the-Art and Challenges in Robotics,” in International Symposium on Robotics Research, San Francisco, CA, 2005.

J. Kim, J. M. Esposito, and V. Kumar, “An RRT-Based Algorithm for Testing and Validating Multirobot Controllers,” in Robotics: Science and Systems I, Cambridge, Massachusetts, 2005.

A. Ahmadzadeh, A. Halasz, S. Prajna, A. Jadbabaie, and V. Kumar, “Analysis of the Lactose metabolism in E. coli using sum-of-squares decomposition,” in Proceedings of the 44th IEEE Conference on Decision and Control, Seville, Spain, 2005.

C. Belta, J. M. Esposito, J. Kim, and V. Kumar, “Computational techniques for analysis of genetic network dynamics,” Int. Journal of Robotics Research, vol. 24, pp. 219-229, 2005.

L. Chaimowicz, N. Michael, and V. Kumar, “Controlling Swarms of Robots Using Interpolated Implicit Functions,” in IEEE Int’l Conf. on Robotics and Automation, Barcelona, Spain, 2005.

L. Chaimowicz, A. Cowley, B. Grocholsky, M. A. Hsieh, J. F. Keller, V. Kumar, and C. J. Taylor, “Deploying Air-Ground Multi-Robot Teams in Urban Environments,” in Third Multi-Robot Systems Workshop, Washington, D.C., 2005.

C. Belta and V. Kumar, “Geometric Methods for Multirobot Optimal Motion Planning,” in Handbook of Geometric Computing, E. B. Corrochano, Ed., Springer-Verlag, 2005.

B. Grocholsky, R. Swaminathan, J. Keller, V. Kumar, and G. Pappas, “Information Driven Coordinated Air-Ground Proactive Sensing,” in IEEE International Conference on Robotics and Automation, Barcelona, Spain: IEEE, 2005.

V. Kumar, L. Chaimowicz, and R. Fierro, “Multi-Robot Cooperation,” in Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis, Eds., CRC Press – Taylor and Francis Group, 2005.

R. Fierro, L. Chaimowicz, and V. Kumar, “Multi-Robot Cooperation,” in Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis, Eds., CRC Press – Taylor & Francis Group, 2005, vol. 309.

R. Rao, V. Kumar, and C. J. Taylor, “Planning and Control of Mobile Robots in Image Space from Overhead Cameras,” in IEEE Int’l Conf. on Robotics and Automation, Barcelona, Spain, 2005.

V. Kumar, “Scalable Swarms of Autonomous Robots and Sensors,” , 2005.

A. Halasz, M. Imielinksi, O. Sokolsky, H. Rubin, and V. Kumar, “The lactose utilization network of E. coli as a Hybrid System,” in Foundations of Systems Biology and Engineering, Santa Barbara, CA, 2005.

2004

L. Chaimowicz, V. Kumar, and F. M. Campos, “A Paradigm for Dynamic Coordination of Multiple Robots,” Autonomous Robots, vol. 17, iss. 1, p. 7 – 21, 2004.

P. Song, J. S. Pang, and V. Kumar, “A Semi-Implicit Time-Stepping Model for Frictional Compliant Contact Problems,” International Journal for Numerical Methods in Engineering, vol. 60, p. 2231–2261, 2004.

C. Belta and V. Kumar, “Abstraction and control policies for a swarm of robots,” IEEE Transactions on Robotics, vol. 20, iss. 5, pp. 865-875, 2004.

J. Esposito, J. W. Kim, and V. Kumar, “Adaptive RRT’s for Validating Hybrid Robotic Control Systems,” in 6th International Workshop on Algorithmic Foundations of Robotics, Utrecht, Netherlands, 2004.

L. Chaimowicz and V. Kumar, “Aerial Shepherds: Coordination among UAVs and Swarms of Robots,” in 7th International Symposium on Distributed Autonomous Robotic Systems, Toulouse, France, 2004.

J. Esposito and V. Kumar, “An Asynchronous Integration and Event Detection Algorithm for Simulating Multi-Agent Hybrid Systems,” ACM Transactions on Modeling and Computer Simulation, vol. 14, iss. 4, pp. 363-388, 2004.

M. A. Hsieh, V. Kumar, and C. J. Taylor, “Constructing Radio Signal Strength Maps with Multiple Robots,” in IEEE Int’l Conf. on Robotics and Automation, New Orleans, LA, 2004.

F. Zhang, B. Grocholsky, V. Kumar, and M. Mintz, “Cooperative Control for Localization of Mobile Sensor Networks,” in Cooperative Control, V. Kumar, N. Leonard, and A. S. Morse, Eds., Springer-Verlag, 2004, vol. 309.

V. Kumar, M. Mintz, B. Grocholsky, and F. Zhang, “Cooperative Control for Localization of Mobile Sensor Networks,” in Cooperative Control, Lecture Notes in Control and Information Sciences, V. Kumar, N. Leonard, and A. S. Morse, Eds., Springer Verlag, 2004, vol. 309.

V. Kumar, N. Leonard, and A. S. Morse, “Cooperative Control,” Springer Verlag, 2004, vol. 309.

G. A. S. Pereira, V. Kumar, and M. F. M. Campos, “Decentralized Algorithms for Multirobot Manipulation via Caging,” International Journal of Robotics Research, 2004.

P. Song, J. C. Trinkle, V. Kumar, and J. -S. Pang, “Design of Part Feeding and Assembly Processes with Dynamics,” in Proc. IEEE Int. Conf. Robot. Automat., 2004.

L. Chaimowicz, B. Grocholsky, J. F. Keller, V. Kumar, and C. J. Taylor, “Experiments in Multirobot Air-Ground Coordination,” in IEEE Int’l Conf. on Robotics and Automation, New Orleans, LA, 2004.

F. Zhang, B. Grocholsky, and V. Kumar, “Formations for Localization of Robot Networks,” in IEEE Int’l Conf. on Robotics and Automation, New Orleans, LA, 2004.

H. G. Tanner, V. Kumar, and G. J. Pappas, “Leader-to-Formation Stability,” IEEE Transactions on Robotics and Automation, 2004.

C. Belta and V. Kumar, “Motion generation for groups of robots,” ASME Journal of Mechanical Design, vol. 126, iss. 1, 2004.

F. Zhang, G. Pereira, and V. Kumar, “Necessary and Sufficient Conditions for Localization of Robot Networks,” in ASME International Design Engineering Technical Conferences, Mechanics and Robotics Conference, Salt Lake City, 2004.

V. Kumar, D. Rus, and S. Singh, “Robot and Sensor Networks for First Responders,” IEEE Pervasive Computing, pp. 24-33, 2004.

B. Grocholsky, S. Bayraktar, V. Kumar, C. J. Taylor, and G. Pappas, “Synergies in Feature Localization by Air-Ground Teams,” in Proc. 9th Int’l Symposium of Experimental Robotics, Singapore, 2004.

D. Gomez-Ibanez, E. Stump, B. Grocholsky, V. Kumar, and C. J. Taylor, “The Robotics Bus: A Local Communcations Bus for Robots,” in Proc. of SPIE, Philadelphia, PA, 2004, pp. 155-163.

C. Belta, P. Finin, L. C. Habets, A. Halasz, M. Imielinski, V. Kumar, and H. Rubin, “Understanding the Bacterial Stringent Response Using Reachability Analysis of Hybrid Systems,” in 7th International Workshop on Hybrid Systems: Computation and Control, 2004, pp. 111-125.

2003

S. G. Loizou, H. G. Tanner, V. Kumar, and K. J. Kyriakopoulos, “Closed loop navigation for mobile agents in dynamic environments,” in Proc. Int’l Conf. on Intelligent Robots and Systems, Las Vegas, 2003.

G. A. S. Pereira, A. K. Das, V. Kumar, and M. F. M. Campos, “Decentralized Motion Planning for Multiple Robots subject to sensing and communication constraints,” in Proceedings of the Second Multi-Robot Systems Workshop, Washington, D.C., 2003, pp. 267-278.

P. Song and V. Kumar, “Distributed Compliant Model for Efficient Dynamic Simulation of Systems with Frictional Contacts,” in ASME International Design Engineering Technical Conferences, Chicago, IL, 2003.

G. Kantor, S. Singh, R. Peterson, D. Rus, A. Das, V. Kumar, G. Pereira, and J. Spletzer, “Distributed Search and Rescue with Robot and Sensor Teams,” in Proceedings of the 4th International Conference on Field and Service Robotics, Japan, 2003.

G. A. S. Pereira, V. Kumar, and M. F. M. Campos, “Formation Control with Configuration Space Constraints,” in Proc. Int’l Conf. on Intelligent Robots and Systems, Las Vegas, 2003.

R. Alur, T. Dang, J. Esposito, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, “Hierarchical Modeling and Analysis of Embedded Systems,” Proceedings of the IEEE, vol. 91, iss. 1, 2003.

G. A. S. Pereira, V. Kumar, and M. F. M. Campos, “Localization and Tracking in Robot Networks,” in Proc. 11th Int’l Conf. on Advanced Robotics (ICAR), Coimbra, Portugal, 2003.

G. Grudic, V. Kumar, and L. Ungar, “Using Policy Gradient Reinforcement Learning on Autonomous Robot Controllers,” in Proc. Int’l Conf. on Intelligent Robots and Systems, Las Vegas, 2003.

R. Rao, V. Kumar, and C. Taylor, “Visual Servoing of a UGV from a UAV using Differential Flatness,” in Proc. Int’l Conf. on Intelligent Robots and Systems, Las Vegas, 2003.

2002

Z. Wang and V. Kumar, “A Decentralized Test for Object Closure by Multiple Cooperating Mobile Robots,” in Sixth International Symposium on Distributed Autonomous Robotic Systems (DARS), Fukuoka, Japan, 2002.

V. Kumar, A. Fierro, J. Das, Y. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, and C. J. Talyor, “A framework and architecture for multirobot coordination,” nternational Journal of Robotics Research, vol. 21, iss. 10-11, pp. 977-995, 2002.

R. Fierro, A. Das, J. Spletzer, Y. Hur, R. Alur, J. Esposito, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, and C. J. Taylor, “A framework and architecture for multirobot coordination,” International Journal of Robotics Research, vol. 21, iss. 10-11, pp. 977-995, 2002.

V. Kumar and M. Zefran, “A Geometrical Approach to the Study of the Cartesian Stiffness Matrix,” ASME Journal of Mechanical Design, vol. 124, iss. 1, pp. 30-38, 2002.

M. v Zefran and V. Kumar, “A Geometrical Approach to the Study of the Cartesian Stiffness Matrix,” Journal of Mechanical Design, vol. 124, iss. 30, 2002.

J. M. Esposito and V. Kumar, “A method for modifying closed loop motion plans to satisfy unpredictable dynamic constraints at runtime,” in Proc. IEEE Intl. Conf. On Robotics and Automation, Washington, D.C., 2002.

P. Song and V. Kumar, “A Potential Field Based Approach to Multi-Robot Manipulation,” in Proc. IEEE Intl. Conf. On Robotics and Automation, Washington, D.C., 2002.

A. Das, J. Spletzer, V. Kumar, and C. J. Taylor, “Ad hoc networks for localization and control,” in Proc. of the IEEE Conf.~on Decision and Contr., Las Vegas, 2002, p. 2978–2983.

C. Belta and V. Kumar, “An SVD-Based Project Method for Interpolation on SE(3),” IEEE Trans. Robotics and Automation, vol. 18, iss. 3, pp. 334-345, 2002.

T. Sugar and V. Kumar, “Control of Cooperating Mobile Manipulators,” IEEE Transactions on Robotics and Automation, vol. 18, iss. 1, pp. 94-103, 2002.

V. Kumar and T. Sugar, “Control of Cooperating Mobile Manipulators,” IEEE Transactions on Robotics and Automation, vol. 18, iss. 1, pp. 94-103, 2002.

C. Belta, L. Habets, and V. Kumar, “Control of multi-affine systems on rectangles with applications to hybrid biomolecular networks,” in IEEE Conference on Decision and Control, Las Vegas, 2002.

V. Kumar, R. Fierro, P. Song, and A. Das, “Cooperative Control of Robot Formations,” in Cooperative Control and Optimization: Series on Applied Optimization, R. Murphey and P. Paradalos, Eds., Kluwer Academic Press, 2002, pp. 79-93.

R. Fierro, P. Song, A. Das, and V. Kumar, “Cooperative Control of Robot Formations,” in Cooperative Control and Optimization: Series on Applied Optimization, Kluwer Academic Press, 2002, pp. 79-93.

G. A. S. Pereira, V. Kumar, and M. F. M. Campos, “Cooperative transport of planar objects by multiple mobile robots using object closure,” in 8th International Symposium on Experimental Robotics (ISER), Sant’Angelo d’Ischia, Italy, 2002.

L. Chaimowicz, M. Campos, and V. Kumar, “Dynamic Role Assignment for Cooperative Robots,” in Proc. IEEE Int’l Conf. on Robotics and Automation, Washington, D.C., 2002.

V. Kumar and C. Belta, “Euclidean metrics for motion generation on SE(3),” Journal of Mechanical Engineering Science Part C, vol. 216, iss. C1, pp. 47-61, 2002.

V. Kumar, G. K. Ananthasuresh, and V. Krovi, “Kinematic and Kinetostatic Synthesis of Planar Coupled Multi-Link Serial Chain Mechanisms,” ASME Journal of Mechanical Design, vol. 24, iss. 2, pp. 143-155, 2002.

R. Alur, C. Belta, V. Kumar, M. Mintz, G. Pappas, H. Rubin, and J. Schug, “Modeling and Analyzing Biomolecular Networks,” Computing in Science and Engineering, Special Issue in Biocomputation, pp. 20-31, 2002.

C. Belta and V. Kumar, “Motion generation for formations of robots: a centralized, geometric approach,” in 27th Biennial Mechanisms and Robotics Conference, Design Engineering Technical Conferences, South Bend, IN, 2002.

H. G. Tanner, V. Kumar, and G. J. Pappas, “Stability Properties of Interconnected Vehicles,” in 15th International Symposium on Mathematical Theory of Networks and Systems, South Bend, IN, 2002.

H. G. Tanner, V. Kumar, and G. J. Pappas, “The effect of Feedback and Feedforward on Formation ISS,” in International Conference on Robotics and Automation, Washington, D.C., 2002, pp. 3448-3453.

C. Belta and V. Kumar, “Trajectory design for formations of robots by kinetic energy shaping,” in Proc. IEEE Intl. Conf. On Robotics and Automation, Washington, D.C., 2002.

A. Das, R. Fierro, V. Kumar, J. Ostrowski, J. Spletzer, and C. J. Taylor, “Vision Based Formation Control of Multiple Robots,” IEEE Transactions on Robotics and Automation, vol. 18, iss. 5, pp. 813-825, 2002.

R. Alur, C. Belta, F. Ivancic, V. Kumar, H. Rubin, J. Schug, O. Sokolsky, and J. Webb, “Visual programming for modeling and simulation of bioregulatory networks,” in International Conference on High Performance Computing, Bangalore, India, 2002.

2001

R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. J. Taylor, “A framework and architecture for multirobot coordination,” in Experimental Robotics, Waikiki, Hawaii, 2001.

V. Kumar, P. Dupont, P. Kraus, and P. Song, “Analysis of Rigid Body Dynamic Models for Simulation of Systems with Frictional Contacts,” ASME Transactions Journal of Applied Mechanics, vol. 68, iss. 1, pp. 118-128, 2001.

P. Song, P. Kraus, V. Kumar, and P. Dupont, “Analysis of Rigid–Body Dynamic Models for Simulation of Systems with Frictional Contacts,” ASME Journal of Applied Mechanics, vol. 68, pp. 118-128, 2001.

J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, “Cooperative Localization and Control for Multi-Robot Manipulation,” in Proceedings of the Conference on Intelligent Robot Systems (IROS’ 01), Maui, Hawaii, 2001.

J. Esposito and V. Kumar, “Efficient Dynamic Simulation of Hierarchical Systems,” in IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.

R. Fierro, A. Das, and V. Kumar, “Hybrid Control of Formations of Robots,” in IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.

R. Alur, C. Belta, F. Ivancic, V. Kumar, M. Mintz, G. Pappas, H. Rubin, and S. Schug, “Hybrid Modeling and Simulation of Biomolecular Networks,” in Hybrid Systems: Computation And Control, Rome, Italy, 2001, pp. 19-32.

V. Kumar, V. Krovi, and G. K. Ananthasuresh, “Kinematic Synthesis of Spatial R-R Dyads for Path Following With Applications to Coupled Serial Chain Mechanisms,” ASME Journal of Mechanical Design, vol. 123, iss. 3, pp. 359-366, 2001.

J. Desai, J. Ostrowski, and V. Kumar, “Modeling and Control of Formations of Nonholonomic Mobile Robots,” IEEE Transactions on Robotics and Automation, vol. 17, iss. 6, pp. 905-908, 2001.

C. Belta and V. Kumar, “Motion generation for formations of robots: A geometric approach,” in IEEE International Conference on Robotics and Automation, Seoul, Korea, 2001.

J. M. Esposito, V. Kumar, and G. Pappas, “Multi-Agent Hybrid System Simulation,” in IEEE Conference on Decision and Control, Orlando, Florida, 2001.

R. Fierro, C. Belta, J. Desai, and V. Kumar, “On controlling aircraft formations,” in Proc. IEEE Conference on Decision and Control, Orlando, Florida, 2001, pp. 1065-1070.

V. Kumar and V. Krovi, “Rapid Design and Prototyping of Customized Rehabilitation Aids,” in Encylopedia of Library and Information Science, A. Kent, Ed., Marcel Dekker, New York, 2001.

C. Belta, J. Schug, V. Kumar, H. Rubin, P. Dunlap, and G. Pappas, “Reachability Analysis with Application to Biomolecular Networks,” in Proc. IEEE Conference on Decision and Control, Orlando, Florida, 2001.

A. Bicchi and V. Kumar, “Robotic Grasping and Manipulation,” in Ramsete: Articuated and Mobile Robots for Services and Technology, N. Siciliano Bicchi and Valigi, Eds., Springer Verlag, 2001, vol. 270.

V. Kumar and C. C. Wang, “The Performance of Repeatable Control Schemes for Redundant Robots,” Journal of Robotic Systems, vol. 18, iss. 4, 2001.

2000

V. Kumar, G. Kinzel, S. Wei, G. Bengu, and J. Zhou, “Multi-University Design Projects,” ASEE Journal of Engineering Education, vol. 89, iss. 3, pp. 23-32, 2000.

V. Kumar, J. Desai, and J. Ostrowski, “Optimal Gait Selection for Nonholonomic Locomotion Systems,” International Journal of Robotics Research, vol. 19, iss. 3, pp. 1-13, 2000.

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