Journal Publications

L. Boroson, F. Sha, and N. Ayanian, “Model-free Policy Gradients for Multi-Agent Shape Formation,” Autonomous Robots, 2018. Submitted, under review.

P. Ghosh, J. A. Tran, D. Dsouza, N. Ayanian, and B. Krishnamachari, "ROMANO: A novel overlay lightweight communication protocol for unified control and sensing of a network of robots," in Research (Science Partnered Journal), 2018. Submitted, Under Review.

W. Hoenig, T. K. S. Kumar, H. Ma, L. Cohen, H. Xu, S. Koenig, and N. Ayanian, "Path Finding for Multi-Robot Systems with Kinematic Constraints in Occluded Environments," Journal of Artificial Intelligence Research. Accepted, In Revision.

W. Hoenig, J. Preiss, T. K. S. Kumar, G. Sukhatme, and N. Ayanian, "Trajectory Planning for Quadrotor Swarms," IEEE Transactions on Robotics (Special issue on Aerial Swarm Robotics). Accepted, to appear.

N. Kamra, T. K. S. Kumar, and N. Ayanian, "Combinatorial problems in multi-robot battery exchange systems," IEEE Transactions on Automation Science and Engineering, vol. 15, no. 2, pp. 852-862.

H. Ma, W. Hoenig, N. Ayanian, L. Cohen, S. Koenig, T. K. S. Kumar, T. Uras, and H. Xu, "A slack-based framework for plan generation and execution monitoring in multi-robot systems," IEEE Intelligent Systems, Nov/Dec 2017.

K. Hausman, J. Mueller, A. Hariharan, N. Ayanian, and G. Sukhatme, "Cooperative Control for Target Tracking with Onboard Sensing", The International Journal of Robotics Research, vol. 34, no. 13, pp.1660-1677, Nov 2015. [BibTeX, PDF Preprint, copyright IJRR, DOI]

N. Ayanian and V. Kumar, "Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles", IEEE Transactions on Robotics, vol. 26, no. 5, pp. 878-887, Oct. 2010. [BibTeX, PDF, copyright IEEE]

N. Ayanian, J. Keller, D. Cappelleri, and V. Kumar, "Development of a Successful Open-Ended Robotics Design Course at the High School Level", Special Issue on Robotics Education, ASEE Computers in Education, 20(3), July - September 2010. [BibTeX, PDF, copyright ASEE]

Refereed Conference Publications

Articles under double-blind review not listed.

M. Debord, W. Honig, and N. Ayanian, “Trajectory planning for heterogenous robot teams,” in IEEE/RSJ Intl Conf Intelligent Robots and Systems, 2018. Submitted, under review.

J. A. Tran, P. Ghosh, Y. Gu, R. Kim, D. Dsouza, N. Ayanian, and B. Krishnamachari, “Intelligent robotic IoT system testbed (IRIS),” in IEEE/RSJ Intl Conf Intelligent Robots and Systems, 2018. Submitted, Under Review.

  1. M. Debord, W. Honig, and N. Ayanian, “Trajectory planning for heterogenous robot teams,” in Inter- national Symposium on Aerial Robotics, 2018. Accepted, to appear.

  2. T. Abdelzaher, N. Ayanian, T. Basar, S. Diggavi, J. Diesner, D. Ganesan, R. Govindan, S. Jha, T. Lepoint, B. Marlin, K. Nahrstedt, D. Nicol, R. Rajkumar, S. Russell, S. Seshia, F. Sha, P. Shenoy, M. Srivastava, G. Sukhatme, A. Swami, P. Tabuada, D. Towsley, N. Vaidya, and V. Veeravalli, “Will distributed computing revolutionize peace? The emergence of battlefield IoT,” in IEEE Int’l Conference on Distributed Computing Systems, 2018. Accepted, to appear.

  3. W. Honig, S. Kiesel, A. Tinka, J. Durham, and N. Ayanian, “Conflict-based search with optimal task assignment,” in International Conference on Autonomous Agents and Multiagent Systems, 2018. Accepted, to Appear.

  4. H. Ma, W. Honig, T. K. S. Kumar, N. Ayanian, and S. Koenig, “Lifelong path planning with kinematic constraints for multi-agent pickup and delivery,” in International Conference on Automated Planning and Scheduling, 2018. Accepted, to Appear.

  5. N. Ayanian, “DART: Diversity-enhanced Autonomy in Robot Teams,” Int'l Symposium on Robotics Research, 2017.

  6. J. A. Preiss, W. Hoenig, N. Ayanian, and G. S. Sukhatme, “Downwash-Aware Trajectory Planning for Large Quadcopter Teams,” IEEE/RSJ Int’l Conf. on Intelligent Robots and Systems (IROS), 2017.

  7. W. Hoenig, T. K. S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian, and S. Koenig, “Multi-Agent Path Finding with Kinematic Constraints,” in International Joint Conference on Artificial Intelligence (IJCAI) Best Sister Conferences Track, Melbourne, Australia, August 2017.

  8. J. A. Preiss, W. Hoenig, G. S. Sukhatme, and N. Ayanian, “Crazyswarm: A large nano-quadcopter swarm,” in IEEE Int’l Conf. Robotics and Automation (ICRA), Singapore, 2017.

  9. A. Hamza and N. Ayanian, “Forecasting battery state of charge for robot missions,” in ACM Symposium on Applied Computing, Intelligent Robotics and Multi-Agent Systems (IRMAS) track, Marrakesh, Morocco, April 2017.

  10. H. Xu, T. K. S. Kumar, D. Johnke, N. Ayanian, S. Koenig, “SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks,” in IEEE International Conference on Tools with Artificial Intelligence, 2016, San Jose, CA, pp. 530-535. [BibTeX, PDF Preprint]

  11. W. Hoenig and N. Ayanian, “Dynamic multi-target coverage with robotic cameras,” in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, Daejeon, Korea, pp. 1871 - 1878, October 2016. [BibTeX, PDF Preprint]

  12. W. Hoenig, T. K. S. Kumar, H. Ma, S. Koenig, and N. Ayanian, “Formation change for robot groups in occluded environments,” in Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, Daejeon, Korea, pp. 4836 - 4842, October 2016. [BibTeX, PDF Preprint]

  13. L. Cohen, T. K. S. Kumar, T. Uras, H. Xu, S. Koenig, and N. Ayanian, “Improved Bounded-Suboptimal Multi-Agent Path Finding Solvers,” in Proc. International Joint Conference on Artificial Intelligence, New York, NY, July 2016. [BibTeX, PDF]

  14. W. Hoenig, T. K. S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian, and S. Koenig, “Multi-agent path finding with kinematic constraints,” in International Conference on Automated Planning and Scheduling, London, June 2016. [BibTeX, PDF Preprint] AWARDED BEST PAPER IN THE ROBOTICS TRACK (184 submissions, 65 accepted)

  15. T. Cai, D. Zhang, T. K. S. Kumar, S. Koenig, and N. Ayanian, "Local search on trees and a framework for automated construction using multiple identical robots," in International Conference on Autonomous Agents and Multiagent Systems, Extended Abstract, Singapore, May 2016.

  16. A. Tavakoli, H. Nalbandian, and N. Ayanian. "Crowdsourced Coordination Through Online Games", ACM/IEEE Intl Conf. on Human Robot Interaction Late Breaking Reports, 2016. [BibTeX, PDF Preprint, copyright ACM/IEEE]

  17. W. Hoenig, C. Milanes, L. Scaria, T. Phan, M. Bolas, and N. Ayanian. "Mixed Reality for Robotics", IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 5382 - 5387. [BibTeX, PDF Preprint, copyright IEEE, DOI]

  18. S. Wang, B. Krishnamachari, and N. Ayanian. "The Optimism Principle: A Unified Framework for Optimal Robotic Network Deployment in An Unknown Obstructed Environment", IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 2578 - 2584. [BibTeX, PDF Preprint, copyright IEEE, DOI]

  19. N. Kamra and N. Ayanian. "Dynamic Resource Reallocation for Robots on Long Term Deployments", IEEE Conf. on Automation Science and Engineering, Gothenburg, 2015, pp. 612-617. [BibTeX, PDF Preprint, copyright IEEE, DOI]

  20. S. Garg and N. Ayanian. "Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots", Robotics: Science and Systems X, Berkeley, CA, July 2014. [BibTeX, PDF]

  21. K. Hausman, J. Müller, A. Hariharan, N. Ayanian, and G. Sukhatme. "Cooperative Control for Target Tracking with Onboard Sensing", Proceedings of the Int'l Symposium on Experimental Robotics, Morrocco, Jun 2014. [BibTeX, PDF preprint, copyright IEEE]

  22. N. Ayanian, A. Spielberg, M. Arbesfeld, J. Strauss, and D. Rus. "Controlling a Team of Robots from a Single Input," IEEE Int'l Conference on Robotics and Automation, Hong Kong, June 2014. [BibTeX, PDF preprint, copyright IEEE, DOI]

  23. C. Sung, N. Ayanian, and D. Rus. "Improving the Performance of Multi-Robot Systems by Task Switching", IEEE Int'l Conference on Robotics and Automation, Karlsruhe, Germany, May 2013. [BibTeX, PDF preprint, copyright IEEE, DOI]

  24. N. Ayanian, D. Rus, and V. Kumar. “Decentralized Multirobot Control in Partially Known Environments with Dynamic Task Reassignment”, IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, CA, September 2012, pp. 311-316. [BibTeX, PDF, copyright IFAC]

  25. G. Wagner, H. Choset, and N. Ayanian. “Subdimensional Expansion and Optimal Task Reassignment,” AAAI Symposium on Combinatorial Search, Niagara Falls, Ontario, Canada, July 2012. Short Paper. [BibTeX, PDF, copyright AAAI]

  26. N. Ayanian, V. Kallem, and V. Kumar. “Navigation Functions for Coordinating Multiple Mobile Robots,” IEEE/RSJ Int’l Conference on Intelligent Robots and Systems, San Francisco, CA, September 2011. [BibTeX, PDF, copyright IEEE]

  27. N. Ayanian, J. Keller, P. White, and V. Kumar. “Sparking a Lifelong Interest in Engineering Through a Summer Academy in Robotics,” in Proc. ASME Mechanisms and Robotics Conference, Montreal, Canada, August 2010. [BibTeX, PDF, copyright ASME]

  28. N. Ayanian and V. Kumar. “Abstractions and Controllers for Groups of Robots in Environments with Obstacles”, IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010, pp. 3537-3542. [BibTeX, PDF, copyright IEEE]

  29. N. Ayanian, V. Kumar, and D. Koditschek, “Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints”, Proceedings of the Int’l Symposium on Robotics Research, Lucerne, Switzerland, August 2009. [BibTeX, PDF, copyright IFRR]

  30. J. Keller, D. Cappelleri, T. Kientz, N. Ayanian, P. White, and V. Kumar, “Capturing the Interest of Future Engineers: The Development of an Intensive Three-week Summer Academy in Robotics for High School Students”, Proceedings of the Fall 2008 ASEE Mid-Atlantic Section Conference, Stevens Institute of Technology, Hoboken, NJ. [BibTeX, PDF, copyright ASEE]

  31. H. Kress-Gazit, N. Ayanian, G. Pappas, and V. Kumar, “Recycling Controllers”, Proceedings of the IEEE Conf. on Automation Science and Engineering, Washington, DC, August 2008. [BibTeX, PDF, copyright IEEE]

  32. N. Ayanian, P.J. White, A. Halasz, M. Yim, and V. Kumar, “Stochastic Control for Self-Assembly of XBots”, Proceedings of the ASME Mechanisms and Robotics Conference, New York, NY, August 2008. [BibTeX, PDF, copyright ASME]

  33. N. Ayanian and V. Kumar, “Decentralized Feedback Controllers for Multi-Agent Teams in Environments with Obstacles”, IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008, pp. 1936-1941 . [BibTeX, PDF, copyright IEEE] WINNER, BEST STUDENT PAPER AWARD (~1500 submissions, 661 papers presented)

    34.  

Ph.D. Thesis

N. Ayanian. “Coordination of multirobot teams and groups in constrained environments: Models, abstractions, and control policies,” Ph.D. Dissertation, University of Pennsylvania, 2011. [BibTeX, PDF]