W. Hönig, and N. Ayanian, “Flying multiple UAVs using ROS,” in Robot Operating System (ROS), ser. Studies in Computational Intelligence, A. Koubaa, Ed. Springer, Cham, 2017, vol. 707, pp. 88–118.
DOI: 10.1007/978-3-319-54927-9_3

Refereed Conference Articles

A. Molchanov, T. Chen, W. Ho ̈nig, J.A. Preiss, N. Ayanian, and G.S. Sukhatme, “Sim- to-(Multi)- Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019. Accepted, to appear.
Acceptance Rate 45%. Preprint on arXiv: https://arxiv.org/abs/1903.04628

E. Boroson and N. Ayanian, “3D keypoint repeatability for heterogeneous multi-robot SLAM,” in IEEE International Conference on Robotics and Automation, Montreal, QC, Canada, May 2019, pp. 6337–6343. Acceptance Rate 44%

H. Ma, W. Hönig, T. K. S. Kumar, N. Ayanian, and S. Koenig, “Lifelong path planning with kinematic constraints for multi-agent pickup and delivery,” in AAAI Conference on Artificial Intelligence, Honolulu, HI, USA, Jan 2019. Acceptance Rate 16.2%

B. Senbaslar, W. Hönig, and N. Ayanian, “Robust trajectory execution for multi-robot teams using distributed real-time replanning,” in International Symposium on Distributed Autonomous Robotic Systems, Boulder, CO, USA, Oct 2018, pp. 167–181. DOI: 10.1007/978-3-030-05816-6_12

M. Debord, W. Hönig, and N. Ayanian, “Trajectory planning for heterogeneous robot teams,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, Oct 2018, pp. 7924–7931. Acceptance Rate 46.7%. DOI: 10.1109/IROS.2018.8593876

J. A. Tran, P. Ghosh, Y. Gu, R. Kim, D. D’Souza, N. Ayanian, and B. Krishnamachari, “Intelligent robotic IoT system testbed (IRIS),” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, Oct 2018, pp. 7961–7966. Acceptance Rate 46.7%. DOI: 10.1109/IROS.2018.8593636

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, Vienna, Austria, Jul 2018, pp. 1129–1138. DOI: 10.1109/ICDCS.2018.00112

W. Hönig, S. Kiesel, A. Tinka, J.W. Durham, and N. Ayanian, “Conflict-based search with optimal task assignment,” in International Conference on Autonomous Agents and Multiagent Systems, Stockholm, Sweden, Jul 2018, pp. 757–765. Acceptance Rate 25%.

N. Ayanian, “DART: Diversity-enhanced autonomy in robot teams,” in International Symposium of Robotics Research, Chile, Dec 2017. Talk available online https://vimeo.com/246403036 DOI: 10.1177/0278364919839137

J. A. Preiss, W. Hönig, N. Ayanian, and G. S. Sukhatme, “Downwash-aware trajectory planning for large quadrotor teams,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Vancouver, BC, Canada, Sep 2017, pp. 250–257. Acceptance Rate 44.8%. DOI: 10.1109/IROS.2017.8202165

W. Hönig, T. K. S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian, and S. Koenig, “Summary: Multi-Agent Path Finding with Kinematic Constraints,” in International Joint Conferences on Artificial Intelligence, Melbourne, Australia, Aug 2017, pp. 4869–4873. Acceptance Rate 26%. DOI: 10.24963/ijcai.2017/684

J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian, “Crazyswarm: A large nano-quadcopter swarm,” in IEEE International Conference on Robotics and Automation, Singapore, May 2017, pp. 3299–3304. Video Acceptance Rate 41%. DOI: 10.1109/ICRA.2017.7989376

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, Marrakech, Morocco, Apr 2017, pp. 249–255. Acceptance Rate 23%. DOI: 10.1145/3019612.3019705

H. Xu, T. K. S. Kumar, D. Johnke, N. Ayanian, and S. Koenig, “SAGL: A new heuristic for multi-robot routing with complex tasks,” in IEEE International Conference on Tools with Artificial Intelligence, San Jose, CA, Nov 2016, pp. 530–535. Acceptance Rate 31%. DOI: 10.1109/ICTAI.2016.0087

L. Cohen, T. Uras, T. K. S. Kumar, H. Xu, N. Ayanian, and S. Koenig, “Improved solvers for bounded-suboptimal multi-agent path finding,” in International Joint Conference on Artificial Intelligence, New York, Jul 2016, pp. 3067–3074. Acceptance Rate 25%. DOI: 10.1109/ICTAI.2016.0087

W. Hönig and N. Ayanian, “Dynamic multi-target coverage with robotic cameras,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Korea, Oct 2016, pp. 1871–1878. Acceptance Rate 48%. DOI: 10.1109/IROS.2016.7759297

W. Hönig, T. K. S. Kumar, H. Ma, S. Koenig, and N. Ayanian, “Formation change for robot groups in occluded environments,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Deajeon, Korea, Oct 2016, pp. 4836–4842. Acceptance Rate 48%. DOI: 10.1109/IROS.2016.7759710

W. Hönig, 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, UK, Jun 2016, pp. 477–485. Acceptance Rate 35%. Awarded outstanding paper in robotics track.

W. Hönig, C. Milanes, L. Scaria, T. Phan, M. Bolas, and N. Ayanian, “Mixed reality for robotics,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep 2015, pp. 5382–5387. Acceptance Rate 45%. DOI: 10.1109/IROS.2015.7354138

S. Wang, B. Krishnamachari, and N. Ayanian, “The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, Sep 2015, pp. 2578 – 2584. Acceptance Rate 45%. DOI: 10.1109/IROS.2015.7353728

N. Kamra and N. Ayanian, “A mixed integer programming model for timed deliveries in multirobot systems,” in IEEE International Conference on Automation Science and Engineering, Gothenburg, Sweden, Aug 2015, pp. 612 – 617. Acceptance Rate 60%. DOI: 10.1109/CoASE.2015.7294146

S. Garg and N. Ayanian, “Persistent monitoring of stochastic spatio-temporal phenomena with a small team of robots,” in Robotics: Science and Systems, Berkeley, CA, Jul 2014, pp. 1–10. Acceptance Rate 32%.

K. Hausman, J. Müller, A. Hariharan, N. Ayanian, and G. Sukhatme, “Cooperative control for target tracking with onboard sensing,” in International Symposium on Experimental Robotics, Morocco, Jun 2014, pp. 879–892. DOI: 10.1007/978-3-319-23778-7_58

N. Ayanian, A. Spielberg, M. Arbesfeld, J. Strauss, and D. Rus, “Controlling a team of robots from a single input,” in IEEE International Conference on Robotics and Automation, Hong Kong, Jun 2014, pp. 1755–1762. Acceptance Rate 48%. DOI: 10.1109/ICRA.2014.6907088

C. Sung, N. Ayanian, and D. Rus, “Improving the performance of multi-robot systems by task switching,” in IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 2013, pp. 2984–2991. Acceptance Rate 39%. DOI: 10.1109/ICRA.2013.6630993

N. Ayanian, D. Rus, and V. Kumar, “Decentralized multirobot control in partially known environments with dynamic task reassignment,” in IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, CA, Sept 2012, pp. 311–316. DOI: 10.3182/20120914-2-US-4030.00029

N. Ayanian, V. Kallem, and V. Kumar, “Synthesis of feedback controllers for multiple aerial robots with geometric constraints,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, Sept. 2011, pp. 3126–3131. Acceptance Rate 32%. DOI: 10.1109/IROS.2011.6094943

N. Ayanian, J. F. Keller, P. J. White, and V. Kumar, “Sparking a lifelong interest in engineering through a summer academy in robotics,” in ASME IDETC Mechanisms and Robotics Conference, Montreal, QC, Canada, Aug 2010, pp. 1019–1028. DOI: 10.1115/DETC2010-29154

N. Ayanian and V. Kumar, “Abstractions and controllers for groups of robots in environments with obstacles,” in IEEE International Conference on Robotics and Automation, Anchorage, AK, May 2010, pp. 3537 – 3542. Acceptance Rate 41%. DOI: 10.1109/ROBOT.2010.5509534

N. Ayanian, V. Kumar, and D. Koditschek, “Synthesis of controllers to create, maintain, and reconfigure robot formations with communication constraints,” in Proceedings of the 2009 International Symposium on Robotics Research, ser. Springer Tracts in Advanced Robotics, C. Pradalier, R. Siegwart, and G. Hirzinger, Eds. Springer Berlin / Heidelberg, 2011, vol. 70, pp. 625–642. DOI: 10.1007/978-3-642-19457-3_37

J. Keller, D. Cappelleri, T. Kientz, N. Ayanian, P. J. 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,” in Fall ASEE Mid-Atlantic Section Conference, Stevens Inst. Tech., Hoboken, NJ, 2008.

H. Kress-Gazit, N. Ayanian, G. J. Pappas, and V. Kumar, “Recycling controllers,” in IEEE International Conference on Automation Science and Engineering, Washington, DC, Aug 2008, pp. 772–777. Acceptance Rate 58%. DOI: 10.1109/COASE.2008.4626521

N. Ayanian, P. J. White, Á. Halasz, M. Yim, and V. Kumar, “Stochastic control for self-assembly of XBots,” in ASME IDETC Mechanisms and Robotics Conference, vol. 2, New York, NY, August 2008, pp. 1169–1176. DOI: 10.1115/DETC2008-49535

N. Ayanian and V. Kumar, “Decentralized feedback controllers for multi-agent teams in environments with obstacles,” in IEEE International Conference on Robotics and Automation, Pasadena, CA, May 2008, pp. 1936–1941. Acceptance Rate 45%. DOI: 10.1109/ROBOT.2008.4543490