Publications
JOURNAL PUBLICATIONS
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
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, copyright IEEE]
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]
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]
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]
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]
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]
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]
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]
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]
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]
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)
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]
POSTER PRESENTATIONS
H. Kress-Gazit, N. Ayanian, G. Pappas, and V. Kumar, “Recycling Controllers,” IEEE Conf. on Automation Science and Engineering, Washington, DC, August 2008.
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.
N. Ayanian and V. Kumar, “Feedback Controllers for Multi-Agent Teams in Environments with Obstacles,” SWARMS Workshop, Philadelphia, PA, May 2007.