Publications

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2019

D. Thakur, G. Loianno, W. Liu, V. Kumar, “Nuclear Environments Inspection with Micro Aerial Vehicles: Algorithms and Experiments,” International Society for Engineers and Researchers, pg. 1-10, Mar. 2019

M. Kennedy III, K. Schmeckpeper, D. Thakur, C. Jiang, K. Daniildis, V. Kumar, “Autonomous Precision Pouring From Unknown Containers,” IEEE Robotics and Automation Letters, vol. 4, iss. 3, pg. 2317-2324, 2019

V. Spurny, T. Bàča, M. Saska, R. Penička, T. Krajnik, J. Thomas, D. Thakur, G. Loianno, V. Kumar, “Cooperative Autonomous Search, Grasping, and Delivering in a Treasure Hunt Scenario by a team of Unmanned Aerial Vehicles,” Wiley Online Library, Journal of Field Robotics, Oct 2018

X. Liu, S. W. Chen, C. Liu, S. S. Shivakumar, J. Das, C. J. Taylor, J. Underwood, V. Kumar, “Monocular Camera Based Fruit Counting and Mapping With Semantic Data Association,” IEEE Robotics and Automation Letters, Vol 4, Iss. 3, Jul. 2019

X. Liu, S. W. Chen, S. Aditya, N. Sivakumar, S. Dcunha, C. Qu, C. J. Taylor, J. Das, V. Kumar, “Robust Fruit Counting: Combining Deep Learning, Tracking, and Structure from Motion,” International Conference on Intelligent Robots and Systems, Aug 2018

S. Das, E. E. Hunter, N. A. DeLateur, E. B. Steager, R. Weiss, “Controlled Delivery of Signaling Molecules Using Magnetic Microrobots,” 2018 International Conferences on Manipulation, Automation and Robotics, 2018

S. Das, E. B.  Steager, M. A. Hsieh, K. J. Stebe, V. Kumar, “Experiments and Open-Loop Control of Multiple Catalytic Microrobots,” Journal of Micro-Bio Robotics 14 (1-2), 25-34, 2018

E.E. Hunter, N. Chodosh, E.B. Steager, and V. Kumar, “Control of Microstructures Propelled via Bacterial Baths,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 1693-1700. (Best Automation Paper Finalist)

D. E. Hernandez, S. W. Chen, E. E. Hunter, E. B. Steager, and V. Kumar, “Cell Tracking with Deep Learning and the Viterbi Algorithm”, in 2018 International Conference on Manipulation, Automation and Robotics at Small Scales, pp. 1-6, Nagoya, Japan, 2018.

S. Das, E. E. Hunter, N. A. Delateur, E. B. Steager, R. Weiss, and V. Kumar,” Controlled Delivery of Signaling Molecules using Magnetic Microrobots,” 2018 International Conference on Manipulation, Automation and Robotics at Small Scales, pp. 1-5. Nagoya, Japan, 2018.

E. E. Hunter, E. W. Brink, E. B. Steager, and V. Kumar, “3D Micromolding of Small-Scale Biological Robots,” in 2018 IEEE International Conference on Manipulation, Automation and Robotics at Small Scales, pp. 1 – 6, Nagoya, Japan, 2018. Best Student Paper Finalist

E. E. Hunter, E. B. Steager, A. Hsu, A. Wong-Foy, R. Pelrine, and V. Kumar, “Nanoliter Fluid Handling for Microbiology via Levitated Magnetic Microrobots”, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 9971004, Apr. 2019.

E. Brink, E. Hunter, E. Steager, V. Kumar, “3D Micromolding of Small-Scale Biological Robots,” International Conference on Manipulation, Automation, and Robotics at Small Scales. May 2018. Finalist for the Best Student Paper

E. Tolstaya, A. Kapoor, A. Ribeiro, and V. Kumar, “Inverse Optimal Planning for Air Traffic Control,” Cornell University, 2019.

M. Kennedy III, K. Schmeckpeper, D. Thakur, C. Jiang, and V. Kumar, “Autonomous Precision Pouring From Unknown Containers,” IEEE Robotics and Automation Letters, vol. 4, iss. 3, pp. 2317-2324, 2019.

2018

S. Tang, V. Wüest, and V. Kumar, “Aggressive Flight With Suspended Payloads Using Vision-Based Control,” IEEE Robotics and Automation Letters, vol. 3, iss. 2, pp. 1152-1159, 2018.

B. Schlotfeldt, D. Thakur, N. Atanasov, V. Kumar, and G. J. Pappas, “Anytime Planning for Decentralized Multirobot Active Information Gathering,” IEEE Robotics and Automation Letters, vol. 3, iss. 2, pp. 1025-1032, 2018.

G. Loianno and V. Kumar, “Cooperative Transportation Using Small Quadrotors Using Monocular Vision and Inertial Sensing,” IEEE Robotics and Automation Letters, vol. 3, iss. 2, pp. 680-687, 2018.

E. Tolstaya, F. Gama, J. Paulos, G. Pappas, A. Ribeiro, and V. Kumar, “Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks,” Cornell University, 2019.

G. Loianno, V. Spurny, T. Baca, J. Thomas, D. Thakur, D. Hert, R. Penicka, T. Krajnik, A. Zhou, A. Cho, M. Saska, and V. Kumar, “Localization, Grasping, and Transportation of Magnetic Objects by a team of MAVs in Challenging Desert like Environments,” IEEE Robotics and Automation Letters, 2018.

K. M. III, D. Thakur, M. A. Hsieh, S. Bhattacharya, and V. Kumar, “Optimal Paths for Polygonal Robots in SE(2),” ASME. J. Mechanisms Robotics, vol. 10, iss. 2, 2018.

Y. Mulgaonkar, A. Makineni, L. Guerrero-Bonilla, and V. Kumar, “Robust Aerial Robot Swarms Without Collision Avoidance,” IEEE Robotics and Automation Letters, vol. 3, iss. 1, pp. 596-603, 2018.

S. Liu, K. Mohta, N. Atanasov, and V. Kumar, “Search-based Motion Planning for Aggressive Flight in SE(3),” IEEE Robotics and Automation Letters, 2018.

A. Z. Zhu, D. Thakur, T. Ozaslan, B. Pfrommer, V. Kumar, and K. Daniilidis, “The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception,” IEEE Robotics and Automation Letters, 2018.

E. Hunter, E. Brink, E. Steager, and V. Kumar, “Toward Soft Micro Bio Robots for Cellular and Chemical Delivery,” IEEE Robotics and Automation Letters, 2018.

A. Weinstein, A. Cho, G. Loianno, and V. Kumar, “VIO-Swarm: A swarm of vision based quadrotors,” IEEE Robotics and Automation Letters, 2018.

K. Sun, K. Mohta, B. Pfrommer, M. Watterson, S. Liu, Y. Mulgaonkar, C. J. Taylor, and V. Kumar, “Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight,” IEEE Robotics and Automation Letters, vol. 3, iss. 2, pp. 965-972, 2018.

2017

D. Saldaña, B. Gabrich, M. Whitzer, A. Prorok, M. F. M. Campos, M. Yim, and V. Kumar, “A decentralized algorithm for assembling structures with modular robots,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 2736-2743.

L. V. I. O. M. P. C. T. V. K. J. Daniel Orol Jnaneshwar Das, “An aerial phytobiopsy system: Design, evaluation, and lessons learned,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, USA, 2017, pp. 188-195.

J. Cleveland, D. Thakur, P. Dames, C. Phillips, T. Kientz, K. Daniilidis, J. Bergstrom, and V. Kumar, “Automated System for Semantic Object Labeling With Soft-Object Recognition and Dynamic Programming Segmentation,” IEEE Transactions on Automation Science and Engineering, vol. 14, iss. 2, pp. 820-833, 2017.

G. L. K. D. Justin Thomas Jake Welde and V. Kumar, “Autonomous Flight for Detection, Localization, and Tracking of Moving Targets With a Small Quadrotor,” IEEE Robotics and Automation Letters, vol. 2, iss. 3, pp. 1762-1769, 2017.

T. Ozaslan, G. Loianno, J. Keller, C. J. Taylor, V. Kumar, J. M. Wozencraft, and T. Hood, “Autonomous Navigation and Mapping for Inspection of Penstocks and Tunnels With MAVs,” IEEE Robotics and Automation Letters, vol. 2, iss. 3, pp. 1740-1747, 2017.

D. C. Franco, A. Prorok, N. Atanasov, B. Kempke, P. Dutta, V. Kumar, and G. J. Pappas, “Calibration-Free Network Localization Using Non-line-of-sight Ultra-wideband Measurements,” in 2017 16th ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), 2017, pp. 235-246.

J. Stephan, J. Fink, V. Kumar, and A. Ribeiro, “Concurrent Control of Mobility and Communication in Multirobot Systems,” IEEE Transactions on Robotics, vol. 33, iss. 5, pp. 1248-1254, 2017.

E. Steager, D. Wong, J. Wang, S. Arora, and V. Kumar, “Control of multiple microrobots with multiscale magnetic field superposition,” in 2017 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2017, pp. 1-6.

D. Saldaña, R. Assunção, M. A. Hsieh, M. F. M. Campos, and V. Kumar, “Cooperative prediction of time-varying boundaries with a team of robots,” in 2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2017, pp. 9-16.

S. W. Chen, S. S. Shivakumar, S. Dcunha, J. Das, E. Okon, C. Qu, C. J. Taylor, and V. Kumar, “Counting Apples and Oranges With Deep Learning: A Data-Driven Approach,” IEEE Robotics and Automation Letters, vol. 2, iss. 2, pp. 781-788, 2017.

K. Karydis and V. Kumar, “Energetics in robotic flight at small scales,” Interface Focus, vol. 7, iss. 1, 2017.

K. V. N Kreciglowa K Karydis, “Energy efficiency of trajectory generation methods for stop-and-go aerial robot navigation,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, pp. 656-662.

G. Loianno, C. Brunner, G. McGrath, and V. Kumar, “Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU,” IEEE Robotics and Automation Letters, vol. 2, iss. 2, pp. 404-411, 2017.

S. B. V. K. Luis Guerrero-Bonilla Kartik Mohta, “Flight trajectory tracking and recovery in presence of large disturbances,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, USA, 2017, pp. 1438-1446.

L. Guerrero-Bonilla, A. Prorok, and V. Kumar, “Formations for Resilient Robot Teams,” IEEE Robotics and Automation Letters, vol. 2, iss. 2, pp. 841-848, 2017.

J. Svacha, K. Mohta, and V. Kumar, “Improving quadrotor trajectory tracking by compensating for aerodynamic effects,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), 2017, pp. 860-866.

F. Maushart, A. Prorok, M. A. Hsieh, and V. Kumar, “Intrusion detection for stochastic task allocation in robot swarms,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 1830-1837.

M. K. III, D. Thakur, V. Kumar, M. Hsieh, and S. Bhattacharya, “Optimal Paths for Polygonal Robots in SE(2),” in ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Cleveland, Ohio, 2017.

S. Liu, M. Watterson, K. Mohta, K. Sun, T. C. J. S. Bhattacharya, and V. Kumar, “Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments,” IEEE Robotics and Automation Letters, vol. 2, iss. 3, pp. 1688-1695, 2017.

M. S. B. T. K. . K. . S. . C. J. S. Liu M. Watterson and V. Kumar, “Planning Dynamically Feasible Trajectories for Quadrotors Using Safe Flight Corridors in 3-D Complex Environments,,” in ICRA, 2017.

K. M. III, K. Queen, D. Thakur, K. Daniilidis, and V. Kumar, “Precise dispensing of liquids using visual feedback,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 1260-1266.

A. Prorok and V. Kumar, “Privacy-preserving vehicle assignment for mobility-on-demand systems,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, pp. 1869-1876.

J. L. S. Rincon, P. Tokekar, V. Kumar, and S. Carpin, “Rapid Deployment of Mobile Robots Under Temporal, Performance, Perception, and Resource Constraints,” IEEE Robotics and Automation Letters, vol. 2, iss. 4, pp. 2016-2023, 2017.

D. Saldaña, A. Prorok, S. Sundaram, M. F. M. Campos, and V. Kumar, “Resilient consensus for time-varying networks of dynamic agents,” in 2017 American Control Conference (ACC), 2017, pp. 252-258.

K. Saulnier, D. Saldaña, A. Prorok, G. J. Pappas, and V. Kumar, “Resilient Flocking for Mobile Robot Teams,” IEEE Robotics and Automation Letters, vol. 2, iss. 2, pp. 1039-1046, 2017.

M. K. S. Liu N. Atanasov and V. Kumar, “Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

S. Das, E. B. Steager, K. J. Stebe, and V. Kumar, “Simultaneous Control of Spherical Microrobots using Catalytic and Magnetic Actuation,” in 2017 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Montreal, Canada, 2017, pp. 1-6.

P. R. B. N. R. K. D. K. J. D. V. K. Lukas Vacek Edward Atter, “sUAS for deployment and recovery of an environmental sensor probe,” in 2017 International Conference on Unmanned Aircraft Systems (ICUAS), Miami, FL, 2017, pp. 1022-1029.

A. Prorok, M. A. Hsieh, and V. Kumar, “The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms,” IEEE Transactions on Robotics, vol. 33, iss. 2, pp. 346-358, 2017.

2016

J. Zillies, S. Westphal, D. Thakur, V. Kumar, G. Pappas, and D. Scheidt, “A column generation approach for optimized routing and coordination of a UAV fleet,” in 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, pp. 350-357.

R. Tron, J. Thomas, G. Loianno, K. Daniilidis, and V. Kumar, “A Distributed Optimization Framework for Localization and Formation Control: Applications to Vision-Based Measurements,” IEEE Control Systems, vol. 36, iss. 4, pp. 22-44, 2016.

R. Tron, J. Thomas, G. Loianno, K. Daniilidis, and V. Kumar, “Bearing-only formation control with auxiliary distance measurements, leaders, and collision avoidance,” in 2016 IEEE 55th Conference on Decision and Control (CDC), 2016, pp. 1806-1813.

D. Wong, I. B. Liu, E. B. Steager, K. J. Stebe, and V. Kumar, “Directed micro assembly of passive particles at fluid interfaces using magnetic robots,” in 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016, pp. 1-6.

I. Saha, R. Ramaithitima, V. Kumar, G. J. Pappas, and S. A. Seshia, “Implan: Scalable Incremental Motion Planning for Multi-Robot Systems,” in 2016 ACM/IEEE 7th International Conference on Cyber-Physical Systems (ICCPS), 2016, pp. 1-10.

N. Bezzo, K. Mohta, C. Nowzari, I. Lee, V. Kumar, and G. Pappas, “Online planning for energy-efficient and disturbance-aware UAV operations,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5027-5033.

S. Tang and V. Kumar, “Safe and complete trajectory generation for large teams of robots with higher-order dynamics,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016, pp. 1894-1901.

Sarah Tang Justin Thomas and V. Kumar, “Safe navigation of quadrotor teams to labeled goals in limited workspaces,” in 2016 International Symposium on Experimental Robotics (ISER), Tokyo, Japan, 2016.

M. Watterson, T. Smith, and V. Kumar, “Smooth trajectory generation on SE(3) for a free flying space robot,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 5459-5466.

T. Özaslan, K. Mohta, J. Keller, Y. Mulgaonkar, C. J. Taylor, V. Kumar, J. M. Wozencraft, and T. Hood, “Towards fully autonomous visual inspection of dark featureless dam penstocks using MAVs,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, pp. 4998-5005.

2015

S. Tang and V. Kumar, “A Complete Algorithm for Generating Safe Trajectories for Multi-Robot Teams,” in International Symposium on Robotics Research (ISRR), Sestri Levante, Italy, 2015.

J. Cleveland, D. Thakur, P. Dames, C. Phillips, T. Kientz, K. Daniilidis, J. Bergstrom, and V. Kumar, “An Automated System for Semantic Object Labeling with Soft Object Recognition and Dynamic Programming Segmentation,” in 2015 IEEE International Conference on Automation Science and Engineering, 2015.

P. Dames and V. Kumar, “Automated Detection, Localization, and Registration of Smart Devices With Multiple Robots,” in 2015 IEEE International Conference on Automation Science and Engineering, 2015.

P. Dames and V. Kumar, “Autonomous Localization of an Unknown Number of Targets Without Data Association Using Teams of Mobile Sensors,” in IEEE Transactions on Automation Science and Engineering, 2015, p. 850–864.

H. Carrillo, P. Dames, V. Kumar, and J. Castellanos, “Autonomous Robotic Exploration Using Occupancy Grid Maps and Graph SLAM Based on Shannon and Rényi Entropy,” in 2015 IEEE International Conference on Robotics and Automation, 2015.

D. Wong, J. Wang, E. Steager, and V. Kumar, “Control of Multiple Magnetic Micro Robots,” , Boston, MA, 2015.

T. J. G. Loianno and V. Kumar, “Cooperative Localization and Mapping of MAVs using RGB-D Sensors,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA USA, 2015, pp. 4021-4028.

J. Keller, D. Thakur, M. Likhachev, J. Gallier, and V. Kumar, “Coordinated Path Planning for Fixed-wing UAS Conducting Persistent Surveillance Missions,” , West Lafayette IN, 2015.

M. D. Kennedy III, L. Guerrero, and V. Kumar, “Decentralized Algorithm for Force Distribution with Applications to Cooperative Transport,” , Boston, MA, 2015.

Y. Mulgaonkar, T. Kientz, M. Whitzer, and V. Kumar, “Design and Fabrication of Safe, Light-Weight, Flying Robots,” , Boston, MA, 2015.

C. G. Y. Mulgaonkar and V. Kumar, “Design of small, safe and robust quadrotor swarms,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015, pp. 2208-2215.

P. Dames P. Tokekar and V.Kumar, “Detecting, Localizing, and Tracking an Unknown Number of Moving Targets Using a Team of Mobile Robots,” in International Symposium on Robotics Research (ISRR), Sestri Levante, Italy, 2015.

A. Prorok, A. M. Hsieh, and V. Kumar, “Fast Redistribution of a Swarm of Heterogeneous Robots,” , New York NY, 2015.

Q. M. H. K. C. . Y. . J. A. . V. G. Loianno G. Cross, “Flying Smartphones: Automated Flight Enabled by Consumer Electronics,” IEEE Robotics and Automation Magazine, vol. 22, iss. 2, pp. 24-32, 2015.

B. Charrow, S. Liu, V. Kumar, and N. Michael, “Information-Theoretic Mapping Using Cauchy-Schwarz Quadratic Mutual Information,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, 2015.

B. Charrow, G. Kahn, S. Patil, S. Liu, K. Goldberg, P. Abbeel, N. Michael, and V. Kumar, “Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping,” in Proceedings of the Robotics: Science and System (RSS), Rome, Italy, 2015.

S. Tang and V. Kumar, “Mixed Integer Quadratic Program Trajectory Generation for a Quadrotor with a Cable-Suspended Payload,” in IEEE International Conference on Robotics and Automation, 2015.

C. N. E. Steager D. Wong and V. Kumar, “Optically addressing microscopic bioactuators for real-time control,” in IEEE International Conference on Robotics and Automation (ICRA), Seattle WA, USA, 2015, pp. 3519-3524.

G. R. S. Bhattacharya and V. Kumar, “Persistent Homology for Path Planning in Uncertain Environments,” IEEE Transactions on Robotics (T-RO), vol. 31, iss. 3, pp. 578-590, 2015.

J. Thomas, G. Kientz, M. Pope, E. W. Hawkes, M. A. Estrada, H. Jiang, M. R. Cutkosky, and V. Kumar, “Planning and Control of Aggressive Maneuvers for Perching on Inclined and Vertical Surfaces,” , Boston, MA, 2015.

M. Watterson and V. Kumar, “Safe receding horizon control for aggressive MAV flight with limited range sensing,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, p. 3235–3240.

R. Ramaithitima, M. Whitzer, S. Bhattacharya, and V. Kumar, “Sensor coverage robot swarms using local sensing without metric information,” in Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015, pp. 3408-3415.

G. Loianno, Y. Mulgaonkar, C. Brunner, D. Ahuja, A. Ramanandan, M. Chari, S. Diaz, and V. Kumar, “Smartphones power flying robots,” in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, p. 1256–1263.

S. Pequito, J. Svacha, G. Pappas, and V. Kumar, “Sparsest Minimum Multiple-Cost Structural Leader Selection,” , Philadelphia, PA, 2015.

2014

A. Mehta, N. Bezzo, B. An, P. Gebhard, V. Kumar, I. Lee, and D. Rus, “A Design Environment for the Rapid Specification and Fabrication of Printable Robots,” in 14th International Symposium on Experimental Robotics, Marrakech, Morocco, 2014.

S. Bhattacharya, S. Kim, H. Heidarsson, G. Sukhatme, and V. Kumar, “A Topological Approach to using cables to separate and manipulate sets of objects,” International Journal of Robotics Research, 2014.

B. Charrow, N. Michael, and V. Kumar, “Active control strategies for discovering and localizing devices with range-only sensors,” in Workshop on Algorithmic Foundations in Robotics (WAFR), 2014.

M. Turpin, N. Michael, and V. Kumar, “An Approximation Algorithm for Time Optimal Multi-Robot Routing,” in Workshop on Algorithmic Foundations in Robotics (WAFR), 2014.

V. K. G. P. J. Indranil Saha Rattanachai Ramaithitima and S. A. Seshia, “Automated Composition of Motion Primitives for Multi-Robot Systems from Safe LTL Specifications,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.

Y. Mulgaonkar and V. Kumar, “Autonomous charging to enable long-endurance missions for small aerial robots,” Proc. SPIE – DSS, vol. 9083, p. 90831S-90831S-15, 2014.

M. Saska, J. Chudoba, L. Precil, J. Thomas, G. Loianno, A. Tresnak, V. Vonasek, and V. Kumar, “Autonomous deployment of swarms of micro-aerial vehicles in cooperative surveillance,” in 2014 International Conference on Unmanned Aircraft Systems (ICUAS), 2014, p. 584–595.

M. Turpin, N. Michael, and V. Kumar, “Capt: Concurrent assignment and planning of trajectories for multiple robots,” The International Journal of Robotics Research, vol. 33, iss. 1, pp. 98-112, 2014.

D. Panagou and V. Kumar, “Cooperative visibility maintenance for leader-follower formations in obstacle environments,” IEEE Transactions on Robotics, vol. 30, iss. 4, p. in press, to appear, 2014.

J. Keller, D. Thakur, V. Dobrokhodov, K. Jones, M. Likhachev, J. Gallier, I. Kaminer, and V. Kumar, “Coordinated commencement of pre-planned routes for fixed-wing UAS starting from arbitrary locations-a near real-time solution,” in Unmanned Aircraft Systems (ICUAS), 2014 International Conference on, 2014, p. 552–561.

D. Panagou M. Turpin and V. Kumar, “Decentralized Goal Assignment and Trajectory Generation in Multi-Robot Networks: A Multiple Lyapunov Functions Approach,” in Proc. of the 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014.

M. N. M. Turpin K. Mohta and V. Kumar, “Goal assignment and trajectory planning for large teams of interchangeable robots,” Autonomous Robots, vol. 37, iss. 4, pp. 401-415, 2014.

V. Govindarajan, S. Bhattacharya, and V. Kumar, “Human-Robot Collaborative Topological Exploration for Search and Rescue Applications,” in International Symposium on Distributed Autonomous Robotic Systems (DARS), 2014.

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Initialization-free monocular visual-inertial estimation with application to autonomous MAVs,” in International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco, 2014.

S. Bhattacharya, R. Ghrist, and V. Kumar, “Multi-robot Coverage and Exploration on Riemannian Manifolds with Boundary,” International Journal of Robotics Research, vol. 33, iss. 1, pp. 113-137, 2014.

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Multi-Sensor Fusion for Robust Autonomous Flight in Indoor and Outdoor Environments with a Rotorcraft MAV,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom., Hong Kong,, 2014.

S. Kim, S. Bhattacharya, and V. Kumar, “Path Planning for a Tethered Mobile Robot,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2014.

P. Dames, D. Thakur, M. Schwager, and V. Kumar, “Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects,” in IEEE Robotics and Automation Magazine, 2014, pp. 46-52.

S. M. P. Dames D.Thakur and V. Kumar, “Playing Fetch with Your Robot: The Ability of Robots to Locate and Interact with Objects,” IEEE Robotics & Automation Magazine, vol. 21, iss. 2, pp. 46-52, 2014.

M. Saska, J. Chudoba, L. Precil, J. Thomas, G. Loianno, and V. Kumar, “Plume Tracking by a Self-Stabilized Group of Micro Aerial Vehicles,” in Modelling and Simulation for Autonomous System Workshop, Rome, Italy, 2014.

Y. Mulgaonkar, M. Whitzer, V. Kumar, B. Morgan, C. M. Kroninger, and A. M. Harrington, “Power and Weight Considerations in Small, Agile Quadrotors,” Proc. SPIE-DSS, vol. 9083, p. 90831Q-90831Q-16, 2014.

K. Mohta, M. Turpin, A. Kushleyev, D. Mellinger, N. Michael, and V. Kumar, “QuadCloud: A Rapid Response Force with Quadrotor Teams,” in International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco, 2014.

J. Stephan, J. Fink, B. Charrow, A. Ribeiro, and V. Kumar, “Robust Routing and Multi-Confirmation Transmission Protocol for Connectivity Management of Mobile Robotic Teams,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014.

G. Loianno, G. Cross, C. Qu, Y. Mulgaonkar, and V. Kumar, “Smart Phones Power Flying Robots,” IEEE Robotics and Automation Magazine, 2014.

E. A. Lee, J. Rabaey, D. Blaauw, P. Dutta, K. Fu, C. Guestrin, B. Hartmann, R. Jafari, D. Jones, J. Kubiatowicz, V. Kumar, R. Mangharam, R. Murray, G. Pappas, K. Pister, A. Rowe, A. Sangiovanni-Vincentelli, S. A. Seshia, T. Simunic Rosing, B. Taskar, J. Wawrzynek, and D. Wessel, “The Swarm at the Edge of the Cloud,” Design Test, IEEE, vol. PP, iss. 99, pp. 1-1, 2014.

T. W. C. F. H. Y. J. . M. . S. . T. . D. . M. R. Hayward M. Eckert and V. Kumar, “The Y-Prize Competition: An Inverted X-Prize Competition for Commercializing University Research,” in International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE), Buffalo, NY, USA, 2014.

J. Thomas, G. Loianno, J. Polin, K. Sreenath, and V. Kumar, “Toward autonomous avian-inspired grasping for micro aerial vehicles,” Bioinspiration & Biomimetics, vol. 9, iss. 2, p. 25010, 2014.

P. S. J. . K. J. Thomas G. Loianno and V. Kumar, “Toward autonomous avian-inspired grasping for micro aerial vehicles,” Bioinspiration and Biomimetics, vol. 9, iss. 2, p. 25010, 2014.

J. Thomas, G. Loianno, K. Sreenath, and V. Kumar, “Toward Image Based Visual Servoing for Aerial Grasping and Perching,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom., Hong Kong, China, 2014.

S. Liu, K. Mohta, S. Shen, and V. Kumar, “Towards collaborative mapping and exploration using multiple micro aerial robots,” in International Symposium on Experimental Robotics (ISER), Marrakech and Essaouira, Morocco, 2014.

K. Mohta, V. Kumar, and K. Daniilidis, “Vision-based Control of a Quadrotor for Perching on Lines,” in 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, 2014, p. 3130–3136.

L. P. K. G. . J. . V. R. Tron J. Thomas and K. Daniilidis, “Vision-based Formation Control of Aerial Vehicles,” in Robotics Science and Systems (RSS), Distributed Control and Estimation for Robotic Vehicle Networks, Bekeley, CA, USA, 2014.

2013

D. J. P. G. K. V. . K. . M. . J. . I. J. Keller D. Thakur and V. Kumar, “A computationally efficient approach to trajectory management for coordinated aerial surveillance,” Unmanned Systems, vol. 1, iss. 1, pp. 59-74, 2013.

K. Sreenath, C. R. Hill, and V. Kumar, “A Partially Observable Hybrid System Model for Bipedal Locomotion for Adapting to Terrain Variations,” in Hybrid Systems: Computation and Control (HSCC), 2013.

A. Mehta, D. Rus, K. Mohta, Y. Mulgaonkar, M. Piccoli, and V. Kumar, “A Scripted Printable Quadrotor: Rapid Design and Fabrication of a Folded MAV,” in International Symposium on Robotics Research, Singapore, 2013.

S. Gray, S. Chitta, V. Kumar, and M. Likhachev, “A Single Planner for a Composite Task of Approaching, Opening, and Navigating Through Non-Spring and Spring-Loaded Doors,” in International Conference on Robotics and Automation, 2013.

S. Kim, S. Bhattacharya, H. Heidarsson, G. Sukhatme, and V. Kumar, “A Topological Approach to Using Cables to Separate and Manipulate Sets of Objects,” in Proceedings of the Robotics: Science and System (RSS), 2013.

B. Charrow, V. Kumar, and N. Michael, “Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information,” in Proceedings of Robotics: Science and Systems, Berlin, Germany, 2013.

J. Seo, M. Yim, and V. Kumar, “Assembly Planning for Planar Structures of a Brick Wall Pattern with Rectangular Modular Robots,” in International Conference on Automation Science and Engineering, 2013.

E.B. Steager, B. Zern, M.S. Sakar, V. Muzykantov, and V. Kumar, “Assessment of protein binding using magnetic microbiorobots in fluid,” in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013.

E. B. Steager, M. S. Sakar, C. Magee, M. Kennedy, A. Cowley, and V. Kumar, “Automated biomanipulation of single cells using magnetic microrobots,” International Journal of Robotics Research, p. in press, 2013.

J. Thomas, J. Polin, K. Sreenath, and V. Kumar, “Avian-Inspired Grasping for Quadrotor Micro UAVs,” in ASME International Design Engineering Technical Conference (IDETC), 2013.

M. Turpin, N. Michael, and V. Kumar, “Computationally efficient trajectory planning and task assignment for large teams of unlabeled robots,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom., Karlsruhe, Germany, 2013, p. 834�840.

P. Dames and V. Kumar, “Cooperative Multi-Target Localization with Noisy Sensors,” in 2013 IEEE International Conference on Robotics and Automation, 2013.

S. Kim, S. Bhattacharya, and V. Kumar, “Dynamic Simulation of Autonomous Boats for Cooperative Skimming and Cleanup,” in Proceedings of the ASME International Design Technical Conferences and Computer and Information in Engineering Conference, Portland, OREGON, 2013.

K. Sreenath and V. Kumar, “Dynamics, Control and Planning for Cooperative Manipulation of Payloads Suspended by Cables from Multiple Quadrotor Robots,” in Robotics: Science and Systems (RSS), 2013.

K. Sreenath, T. Lee, and V. Kumar, “Geometric Control and Differential Flatness of a Quadrotor UAV with a Cable-Suspended Load,” in IEEE Conference on Decision and Control (CDC), Florence, Italy, 2013, p. 2269–2274.

T. Ozaslan, S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Inspection of Penstocks and Featureless Tunnel-like Environments using Micro UAVs,” in Field and Service Robotics, 2013.

G. R. S. Bhattacharya D. Lipsky and V. Kumar, “Invariants for Homology Classes with Application to Optimal Search and Planning Problem in Robotics,” Annals of Mathematics and Artificial Intelligence (AMAI) Springer, p. 67(3):251-281, 2013.

Y. Mulgaonkar, C. Powers, and V. Kumar, “Kinematic Analysis of Quadrotors with Manufacturing Errors,” in Advances in Mechanisms, Robotics and Design Education and Research, V. Kumar, J. Schmiedeler, S. V. Sreenivasan, and H. Su, Eds., Springer International Publishing, 2013, vol. 14, pp. 205-214.

D. Thakur, M. Likhachev, J. Keller, V. Kumar, V. Dobrokhodov, K. Jones, J. Wurz, and I. Kaminer, “Planning for Opportunistic Surveillance with Multiple Robots,” in IROS, 2013.

D.Thakur, M. Likhachev, J. Keller, V. Kumar, V. Dobrokhodov, K. Jones, J. Wurz, and I. Kaminer, “Planning for opportunistic surveillance with multiple robots,” in Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 2013, pp. 5750-5757.

M. Pivtoraiko, D. Mellinger, and V. Kumar, “Quadrotor Maneuver Generation using Motion Primitives,” in IEEE International Conference on Robotics and Automation, 2013.

A. Das, D. Thakur, J. Keller, S. Kuthirummal, Z. Kira, and M. Pivtoraiko, “R-MASTIF: Robotic mobile autonomous system for threat interrogation and object fetch,” in SPIE Conference, 2013.

J. Seo, M. Yim, and V. Kumar, “Restraining Objects with Curved Effectors and Its Application to Whole-Arm Grasping,” in International Symposium on Robotics Research, Singapore, 2013.

J. Fink, A. Ribeiro, and V. Kumar, “Robust Control of Mobility and Communications in Autonomous Robot Teams,” Access, IEEE, vol. 1, pp. 290-309, 2013.

S. Kim, S. Bhattacharya, R. Ghrist, and V. Kumar, “Topological Exploration of Unknown and Partially Known Environments,” in International Conference on Intelligent RObots and Systems, Tokyo, Japan, 2013.

A. Kushleyev, D. Mellinger, C. Powers, and V. Kumar, “Towards a swarm of agile micro quadrotors.,” Autonomous Robots, pp. 287-300, 2013.

K. Sreenath, N. Michael, and V. Kumar, “Trajectory Generation and Control of a Quadrotor with a Cable-Suspended Load – A Differentially-Flat Hybrid System,” in IEEE International Conference on Robotics and Automation (ICRA), 2013.

S. Shen, N. Michael, and V. Kumar, “Vision-Based Autonomous Navigation in Complex Environments with a Quadrotor,” in IEEE International Conference on Intelligent Robots and Systems, Tokyo, Japan, 2013.

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Vision-Based State Estimation and Trajectory Control Towards Aggressive Flight with a Quadrotor,” in Robotics: Science and Systems, Berlin, Germany, 2013.

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar, “Vision-based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments,” in Proc. of the IEEE Intl. Conf. on Robot. and Autom., Karlsruhe, Germany, 2013.

2012

P. Dames, M. Schwager, V. Kumar, and D. Rus, “A Decentralized Control Policy for Adaptive Information Gathering in Hazardous Environments,” in Proceedings of the Conference on Decision and Control, Maui, HI, USA, 2012.

P. Dames, D. Thakur, M. Schwager, and V. Kumar, “Adaptive Information Gathering Using Visual Sensors,” in Workshop on Stochastic Geometry in SLAM at the International Conference on Robotics and Automation, Saint Paul, MN, USA, 2012.

S. Shen, N. Michael, and V. Kumar, “Autonomous indoor 3D exploration with a micro-aerial vehicle,” in Proc. IEEE Int. Conf. Robot. Automat., St. Paul, Minneapolis, 2012.

N. Michael, S. Shen, K. Mohta, Y. Mulgaonkar, K. V. K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi, and S. Tadokoro, “Collaborative Mapping of an Earthquake-Damaged Building via Ground and Aerial Robots,” J. Field Robotics, vol. 29, iss. 5, pp. 832-841, 2012.

N. Michael, S. Shen, K. Mohta, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi, and S. Tadokoro, “Collaborative Mapping of an Earthquake-Damaged Building via Ground and Aerial Robots,” in Proc. of the Intl. Conf. on Field and Service Robot., Miyagi, Japan, 2012.

Q. Lindsey, D. Mellinger, and V. Kumar, “Construction with quadrotor teams,” Autonomous Robots, vol. 33, pp. 323-336, 2012.

B. Charrow, N. Michael, and V. Kumar, “Cooperative Multi-Robot Estimation and Control for Radio Source Localization,” in Proc. of the Intl. Sym. on Experimental Robotics, Québec, Canada, 2012.

M. Turpin, N. Michael, and V. Kumar, “Decentralized formation control with variable shapes for aerial robots,” in Proc. of the IEEE Int. Conf. on Robotics and Automation, St. Paul, MN, 2012.

Q. Jiang and V. Kumar, “Determination and Stability Analysis of Equilibrium Configurations of Objects Suspended From Multiple Aerial Robots,” Journal of Mechanisms and Robotics, vol. 4, iss. 2, p. 21005, 2012.

C. Powers, D. Mellinger, A. Kushleyev, B. Kothmann, and V. Kumar, “Influence of Aerodynamics and Proximity Effects in Quadrotor Flight.,” in Int. Symposium on Experimental Robotics, 2012.

D. Panagou and V. Kumar, “Maintaining visibility for leader-follower formations in obstacle environments,” in IEEE International Conference on Robotics and Automation (ICRA), 2012.

D. Mellinger, A. Kushleyev, and V. Kumar, “Mixed-Integer Quadratic Program (MIQP) Trajectory Generation for Heterogeneous Quadrotor Teams,” in Proc. of the IEEE Int. Conference on Robotics and Automation, Minneapolis, MN, 2012.

S. Bhattacharya, R. Ghrist, and V. Kumar, “Multi-Robot Coverage and Exploration in Non-Euclidean Metric Spaces,” in Proceedings of The Tenth International Workshop on the Algorithmic Foundations of Robotics, 2012.

R. Mahony, V. Kumar, and P. Corke, “Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor,” Robotics Automation Magazine, IEEE, vol. PP, iss. 99, p. 1, 2012.

D. Wong, E. B. Steager, and V. Kumar, “Near-Wall Dynamics and Photoresponse of Swimming Microbiorobots,” in ASME IDETC/CIE, 2012.

S. Kim, K. Sreenath, S. Bhattacharya, and V. Kumar, “Optimal Trajectory Generation Under Homology Class Constraints,” in 51st IEEE Conference on Decision and Control, 2012.

J. Seo, S. Kim, and V. Kumar, “Planar, Bimanual, Whole-Arm Grasping,” in IEEE International Conference on Robotics and Automation (ICRA), 2012.

J. Fink, A. Ribeiro, and V. Kumar, “Robust Cyber-Physical Control of Mobility and Communication in Autonomous Robot Teams,” Proceedings of the IEEE, vol. 100, iss. 1, pp. 164-178, 2012.

S. Bhattacharya, M. Likhachev, and V. Kumar, “Search-based Path Planning with Homotopy Class Constraints in 3D,” in Invited paper for sub-area spotlights track on ‘Best-paper talks’, Proceedings of Twenty-Sixth Conference on Artificial Intelligence (AAAI-12), 2012.

S. Gray, C. Clingerman, S. Chitta, V. Kumar, and M. Likhachev, “Search-Based Planning for Autonomous Spring-Loaded Door Opening,” in Robotics: Science and Systems Workshop on Generating Robot Motion for Contact with the World, 2012.

J. Seo and V. Kumar, “Spatial, Bimanual, Whole-arm grasping,” in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, p. 257–264.

Q. Jiang and V. Kumar, “The Inverse Kinematics of Cooperative Transport with Multiple Aerial Robots,” IEEE Trans. Robotics, 2012.

S. Bhattacharya, M. Likhachev, and V. Kumar, “Topological Constraints in Search-based Robot Path Planning,” Autonomous Robots, vol. 33, iss. 3, pp. 273-290, 2012.

A. Kushleyev, D. Mellinger, and V. Kumar, “Towards A Swarm of Agile Micro Quadrotors,” in Robotics: Science and Systems, 2012.

M. Turpin, N. Michael, and V. Kumar, “Trajectory planning and assignment in multirobot systems,” in Workshop on the Algorithmic Foundations of Robotics, Boston, MA, 2012.

S. Kim, K. Sreenath, S. Bhattacharya, and V. Kumar, “Trajectory Planning for Systems with Homotopy Class Constraints,” in 13th International Symposium on Advances in Robot Kinematics, 2012.

2011

S. Shen, N. Michael, and V. Kumar, “3D Estimation and Control for Autonomous Flight with Constrained Computation,” in Proc. IEEE Int. Conf. Robot. Automat., Shanghai, China, 2011.

M. Schwager, P. Dames, D. Rus, and V. Kumar, “A Multi-Robot Control Policy for Information Gathering in the Presence of Unknown Hazards,” in Proceedings of the International Symposium on Robotics Research, Flagstaff, AZ, USA, 2011.

D. J. Cappelleri, G. Piazza, and V. Kumar, “A two dimensional vision-based force sensor for microrobotic applications,” Sensors and Actuators A: Physical, vol. 171, iss. 2, pp. 340-351, 2011.

Q. Jiang, D. Mellinger, C. Kappeyne, and V. Kumar, “Analysis and Synthesis of Multi-Rotor Aerial Vehicles,” in Proceedings of the International Design Engineering Technical Conference, 2011.

Q. Lindsey, D. Mellinger, and V. Kumar, “Construction of Cubic Structures with Quadrotor Teams,” in Robotics Science and Systems, Los Angeles, CA, 2011.

N. Michael and V. Kumar, “Control of Ensembles of Aerial Robots,” Proceedings of the IEEE, 2011.

S. Bhattacharya, H. Heidarsson, G. S. Sukhatme, and V. Kumar, “Cooperative Control of Autonomous Surface Vehicles for Oil Skimming and Cleanup,” in Proc. of the International Conference on Robotics and Automation (ICRA 11), Shanghai, China, 2011.

N. Michael, J. Fink, and V. Kumar, “Cooperative Manipulation and Transportation with Aerial Robots,” Autonomous Robots, vol. 30, iss. 1, pp. 73-86, 2011.

D. Mellinger, Q. Lindsey, M. Shomin, and V. Kumar, “Design, Modeling, Estimation and Control for Aerial Grasping and Manipulation,” in International Conference on Intelligent Robot Systems (IROS), San Francisco, CA, 2011.

E. B. Steager, M. S. Sakar, D. H. Kim, V. Kumar, G. Pappas, and M. J. Kim, “Electrokinetic and optical control of bacterial microrobots,” Micromechanics and Microengineering, vol. 21, 2011.

J. Derenick, N. Michael, and V. Kumar, “Energy-Aware Coverage Control with Docking for Robot Teams,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.

S. Berman, Q. Lindsey, M. S. Sakar, V. Kumar, and S. C. Pratt, “Experimental study and modeling of group retrieval in ants as an approach to collective transport in swarm robotic systems,” Proceedings of the IEEE, 2011.

S. Bhattacharya, M. Likhachev, and V. Kumar, “Identification and Representation of Homotopy Classes of Trajectories for Search-based Path Planning in 3D,” in Proceedings of Robotics: Science and Systems, 2011.

S. Bhattacharya and M. Likhachev, “Identifying Homotopy Classes of Trajectories for Robot Exploration and Path Planning,” in Robotics Science and Systems, Los Angeles, CA, 2011.

J. Derenick, J. Fink, and V. Kumar, “Localization Using Ambiguous Bearings from Radio Signal Strength,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.

D. Mellinger and V. Kumar, “Minimum Snap Trajectory Generation and Control for Quadrotors,” in Proc. of the International Conference on Robotics and Automation (ICRA 11), Shanghai, China, 2011.

M. S. Sakar, E. Steager, D. H. Kim, A. Julius, V. Kumar, G. Pappas, and M. J. Kim, “Modeling, control and experimental characterization of microbiorobots,” International Journal of Robotics Research, 2011.

V. Kumar and N. Michael, “Opportunities and Challenges with Autonomous Micro Aerial Vehicles,” in International Symposium on Robotics Research, Flagstaff, AZ, 2011.

J. Fink, N. Michael, S. Kim, and V. Kumar, “Planning and Control for Cooperative Manipulation and Transportation with Aerial Robots,” The International Journal of Robotics Research, vol. 30, iss. 3, 2011.

S. Gray, J. Romano, J. Brindza, S. Kim, K. Kuchenbecker, and V. Kumar, “Planning Manipulation and Grasping Tasks with a Redundant Arm,” in ASME International Design Technical Conferences and Computer and Information Engineering Conference, 2011.

V. Kallem, A. T. Komoroski, and V. Kumar, “Sequential Composition for Navigating a Nonholonomic Cart in the Presence of Obstacles,” IEEE Transactions on Robotics, 2011.

S. Berman, V. Kumar, and R. Nagpal, “Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination,” in Proc. IEEE Int. Conf. Robot. Automat., Shanghai, China, 2011.

N. Ayanian, V. Kallem, and V. Kumar, “Synthesis of Feedback Controllers for Multiple Aerial Robots with Geometric Constraints,” in IEEE International Conference on Intelligent Robots and Systems, 2011.

M. Schwager, N. Michael, V. Kumar, and D. Rus, “Time Scales and Stability in Networked Multi-Robot Systems,” in Proc. of the International Conference on Robotics and Automation (ICRA 11), Shanghai, China, 2011.

M. Turpin, N. Michael, and V. Kumar, “Trajectory Design and Control for Aggressive Formation Flight with Quadrotors,” in International Symposium on Robotics Research, Flagstaff, AZ, 2011.

E. Stump, N. Michael, V. Kumar, and V. Isler, “Visibility-Based Deployment of Robot Formations for Communication Maintenance.,” in Proc. IEEE Int. Conf. on Robotics and Automation, 2011.

M. S. Sakar, E. Steager, A. Cowley, V. Kumar, G. Pappas, and M. J. Kim, “Wireless Manipulation of Single Cells using Magnetic Microtransporters,” in Proc. IEEE Int’l Conf. on Robotics and Automation (ICRA 2011), Shanghai, China, 2011.

2010

S. Gray, N. Zeichner, M. Yim, and V. Kumar, “A Simulator for Origami-Inspired Self-Reconfigurable Robots,” in Fifth International Conference on Origami in Science, Mathematics, and Education, 2010.

S. Gray, J. Seo, P. White, N. Zeichner, M. Yim, and V. Kumar, “A Toolchain for the Design and Simulation of Foldable Programmable Matter,” in Proceedings of the ASME International Design Technical Conferences and Computer and Information in Engineering Conference, Montreal, Canada, 2010.

N. Ayanian and V. Kumar, “Abstraction and control for groups of robots in environments with obstacles,” in International Conference on Robotics and Automation, 2010.

S. M. Sakar, E. B. Steager, A. A. Julius, M. Kim, V. Kumar, and G. J. Pappas, “Biosensing and Actuation for Microbiorobots,” in International Conference on Robotics and Automation, 2010.

D. Mellinger and V. Kumar, “Control and Planning for Vehicles with Uncertainty in Dynamics,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010.

D. Melinger M. Shomin and V. Kumar, “Cooperative Grasping and Transport using Multiple Quadrotors,” in 10th International Symposium on Distributed Autonomous Robots, Lausanne, Switzerland, 2010.

N. Ayanian and V. Kumar, “Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles,” IEEE Transactions on Robotics, 2010.

S. Bhattacharya, N. Michael, and V. Kumar, “Distributed Coverage and Exploration in Unknown Non-Convex Environments,” in Proceedings of 10th International Symposium on Distributed Autonomous Robotics Systems, 2010.

S. Bhattacharya, V. Kumar, and M. Likhachev, “Distributed Optimization with Pairwise Constraints and its Application to Multi-robot Path Planning,” in Proceedings of Robotics: Science and Systems, Zaragoza, Spain, 2010.

S. Bhattacharya, M. Likhachev, and V. Kumar, “Multi-agent Path Planning with Multiple Tasks and Distance Constraints,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, 2010.

J. Fink and V. Kumar, “Online Methods for Radio Signal Mapping with Mobile Robots,” in International Conference on Robotics and Automation, 2010.

J. Fink, A. Ribeiro, V. Kumar, and B. Sadler, “Optimal Robust Multihop Routing for Wireless Networks of Mobile Micro Autonomous Systems,” in Military Communications Conference, San Jose, CA, 2010.

J. Seo, S. Gray, V. Kumar, and M. Yim, “Reconfiguring Chain-type Modular Robots Based on the Carpenter’s Rule Theorem,” in The Ninth International Workshop on the Algorithmic Foundations of Robotics, 2010.

S. Bhattacharya, V. Kumar, and M. Likhachev, “Search-based Path Planning with Homotopy Class Constraints,” in Proceedings of The Third Annual Symposium on Combinatorial Search, Atlanta, Georgia, 2010.

M. Kumar, V. Kumar, and D. Garg, “Segregation of heterogeneous units in a swarm of robotic agents,” IEEE Transactions on Automatic Control, 2010.

M. S. Sakar, E. B. Steager, D. H. Kim, M. J. Kim, G. J. Pappas, and V. Kumar, “Single cell manipulation using ferromagnetic composite microtransporters,” Applied Physics Letters, vol. 96, 2010.

S. Berman, Q. Lindsey, M. S. Sakar, V. Kumar, and S. Pratt, “Study of group food retrieval by ants as a model of multi-robot collective transport strategies,” in Robotics Science and Systems, Zaragoza, Spain, 2010.

Q. Jiang and V. Kumar, “The Direct Kinematics of Objects Suspended from Cables,,” in Proceedings of the ASME IDETC/CIE Mechanisms and Robotics Conferenc, 2010.

N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar, “The GRASP multiple micro UAV testbed,” IEEE Robotics and Automation Magazine, 2010.

Q. Jiang and V. Kumar, “The Inverse Kinematics of 3-D Towing,” in Advances in Robot Kinematics, 2010, pp. 321-328.

C. D. A. Halasz and V. Kumar, “Toward a Fully Automated High-Throughput Phototransfection System,” Journal of the Association of Laboratory Automation, pp. 329-341, 2010.

D. Cappelleri, G. Krishnan, C. Kim, V. Kumar, and S. Kota, “Toward the design of a decoupled, two-dimensional, vision-based, micro-Newton force sensor,” Transactions of the ASME, Journal of Mechanisms and Robotics, 2010.

J. Derenick, V. Kumar, and A. Jadbabaie, “Towards Simplicial Coverage Repair for Mobile Robot Teams,” in Proceedings of the 2010 IEEE International Conference on Robots and Automation, Anchorage, Alaska, 2010.

D. Mellinger, N. Michael, and V. Kumar, “Trajectory generation and control for precise aggressive maneuvers with quadrotors,” in In Proceedings of the International Symposium on Experimental Robotics, Delhi, India, 2010.

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