RISLab
Research Papers

 
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2019

A. E. Spitzer and N. Michael. Inverting Learned Dynamics Models for Multirotor Control. In Robot.: Sci. and Syst., Freiburg, Germany, June 2019. To Appear. [arXiv] [PDF]

W. Tabib, K. Goel, J. W. Yao, M. Dabhi, C. Boirum, and N. Michael. Real-time Information-Theoretic Exploration with Gaussian Mixture Model Maps. In Robot.: Sci. and Syst., Freiburg, Germany, June 2019. To Appear. [PDF] [Video]

A. Desai, M. Collins, and N. Michael. Efficient Kinodynamic Multi-Robot Replanning in Known Workspaces. In IEEE Intl. Conf. on Robot. and Autom., Montreal, Canada, May 2019. [PDF] [Video]

D. Mitchell and N. Michael. Persistent Multi-Robot Mapping in an Uncertain Environment. In IEEE Intl. Conf. on Robot. and Autom., Montreal, Canada, May 2019. [PDF] [Video]

B. Fu, K. S. Shankar, and N. Michael. RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry. In IEEE Intl. Conf. on Robot. and Autom., Montreal, Canada, May 2019. [arXiv] [Video]

C. O'Meadhra, W. Tabib, and N. Michael. Variable Resolution Occupancy Mapping using Gaussian Mixture Models. IEEE Robot. and Autom. Letters, 4(2):2015-2022, April, 2019. [DOI] [PDF]

M. Corah, C. O'Meadhra, K. Goel, and N. Michael. Communication-Efficient Planning and Mapping for Multi-Robot Exploration in Large Environments. IEEE Robot. and Autom. Letters, 4(2):1715-1721, April, 2019. [DOI] [PDF] [Video]

S. Srivastava and N. Michael. Efficient, Multifidelity Perceptual Representations via Hierarchical Gaussian Mixture Models. IEEE Trans. Robot., 35(1):248-260, February, 2019. [DOI] [PDF]

M. Corah and N. Michael. Distributed matroid-constrained submodular maximization for multi-robot exploration: theory and practice. Auton. Robots, 43(2):485-501, February, 2019. [DOI] [PDF]

2018

M. Bangura, X. Hou, G. Allibert, R. Mahony, and N. Michael. Supervisory Control of Multirotor Vehicles in Challenging Conditions Using Inertial Measurements. IEEE Trans. Robot., 34(6):1490-1501, December, 2018. [DOI]

V. R. Desaraju, A. E. Spitzer, C. O'Meadhra, L. Lieu, and N. Michael. Leveraging experience for robust, adaptive nonlinear MPC on computationally constrained systems with time-varying state uncertainty. Intl. J. Robot. Research, 37(13-14):1690-1712, December, 2018. [DOI] [PDF]

E. A. Cappo, A. Desai, M. Collins, and N. Michael. Online planning for human — multi-robot interactive theatrical performance. Auton. Robots, 42(8):1771-1786, December, 2018. [DOI] [PDF] [Video]

M. Corah and N. Michael. Distributed Submodular Maximization on Partition Matroids for Planning on Large Sensor Networks. In IEEE Conf. on Decision and Control, pages 6792-6799, Miami Beach, FL, December 2018. [DOI] [PDF]

A. E. Spitzer, X. Yang, J. W. Yao, A. Dhawale, K. Goel, M. Dabhi, M. Collins, C. Boirum, and N. Michael. Fast and Agile Vision-based Flight with Teleoperation and Collision Avoidance on a Multirotor. In Intl. Sym. on Exp. Robot., Buenos Aires, Argentina, November 2018. [PDF] [Video]

W. Tabib, C. O'Meadhra, and N. Michael. On-Manifold GMM Registration. IEEE Robot. and Autom. Letters, 3(4):3805-3812, October, 2018. [DOI] [PDF]

M. S. Lee, D. Shy, R. Whittaker, and N. Michael. Active Range and Bearing-based Radiation Source Localization. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 1389-1394, Madrid, Spain, October 2018. [DOI]

A. Dhawale, X. Yang, and N. Michael. Reactive Collision Avoidance using Real-Time Local Gaussian Mixture Model Maps. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 3545-3550, Madrid, Spain, October 2018. [DOI] [PDF] [Video]

A. Dhawale, K. S. Shankar, and N. Michael. Fast Monte-Carlo Localization on Aerial Vehicles Using Approximate Continuous Belief Representations. In IEEE/CVF Conf. on Comput. Vision and Pattern Recognition, pages 5851-5859, Salt Lake City, UT, June 2018. [DOI] [arXiv] [Video]

X. Yang, A. Agrawal, K. Sreenath, and N. Michael. Online adaptive teleoperation via motion primitives for mobile robots. Auton. Robots, April, 2018. [DOI] [PDF]

E. Nelson, M. Corah, and N. Michael. Environment model adaptation for mobile robot exploration. Auton. Robots, 42(2):257-272, February, 2018. [DOI] [PDF]

V. R. Desaraju and N. Michael. Efficient Prioritization in Explicit Adaptive NMPC through Reachable-Space Search. In AIAA Guidance, Navigation, and Control Conf., Kissimmee, Florida, January 2018. Winner - Best Paper Award. [DOI] [PDF]

2017

T. E. Lee and N. Michael. State Estimation and Localization for ROV-Based Reactor Pressure Vessel Inspection. In Conf. on Field and Service Robot., Zurich, Switzerland, September 2017. [DOI] [PDF]

V. R. Desaraju, A. E. Spitzer, and N. Michael. Experience-driven Predictive Control with Robust Constraint Satisfaction under Time-Varying State Uncertainty. In Robot.: Sci. and Syst., Cambridge, MA, July 2017. [DOI] [PDF]

M. Corah and N. Michael. Efficient online multi-robot exploration via distributed sequential greedy assignment. In Robot.: Sci. and Syst., Cambridge, MA, July 2017. [DOI] [PDF]

V. R. Desaraju and N. Michael. Leveraging Experience for Computationally Efficient Adaptive Nonlinear Model Predictive Control. In IEEE Intl. Conf. on Robot. and Autom., pages 5314-5320, Singapore, May 2017. [DOI] [PDF]

X. Yang, K. Sreenath, and N. Michael. A Framework for Efficient Teleoperation via Online Adaptation. In IEEE Intl. Conf. on Robot. and Autom., pages 5948-5953, Singapore, May 2017. [DOI] [PDF] [Video]

M. Corah and N. Michael. Active Estimation of Mass Properties for Safe Cooperative Lifting. In IEEE Intl. Conf. on Robot. and Autom., pages 4582-4587, Singapore, May 2017. [DOI] [PDF]

X. Yang, K. Sreenath, and N. Michael. Online Adaptive Teleoperation via Incremental Intent Modeling. In ACM/IEEE Intl. Conf. on Human-Robot Interaction, pages 329-330, Vienna, Austria, March 2017. [DOI] [PDF]

Z. Rong, S. Zhong, and N. Michael. Anticipating Degradation in State Estimation Accuracy via Online Nonlinear Observability Analysis. Journal of the Beijing Institute of Technology, 26(3):388-395, 2017. [DOI]

Z. Rong, S. Zhong, and N. Michael. Online detection of state estimator performance degradation via efficient numerical observability analysis. Journal of the Beijing Institute of Technology, 26(2):259-266, 2017. [DOI]

2016

E. A. Cappo, A. Desai, and N. Michael. Robust Coordinated Aerial Deployments for Theatrical Applications Given Online User Interaction via Behavior Composition. In Intl. Sym. on Distributed Auton. Syst., London, England, November 2016. Winner - Best Paper Award. [DOI] [PDF] [Video]

D. Mitchell, E. A. Cappo, and N. Michael. Persistent Robot Formation Flight via Online Substitution. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 4810-4815, Deajeon, Korea, October 2016. [DOI] [PDF] [Video]

W. Tabib, M. Corah, N. Michael, and R. Whittaker. Computationally Efficient Information-Theoretic Exploration in Planetary Pits and Caves. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 3722-3727, Deajeon, Korea, October 2016. [DOI] [PDF]

E. A. Cappo, Z. Rispoli, N. Dehghani, D. Mitchell, A. Momeni, and N. Michael. Choreographing Theatrical Scenes for Aerial Robots through Keyframe Interpolation. In Workshop on Artistically Skilled Robots at IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., Deajeon, Korea, October 2016. [PDF] [Video]

Z. Rong and N. Michael. Detection and Prediction of Near-Term State Estimation Degradation via Online Nonlinear Observability Analysis. In IEEE Intl. Sym. on Safety, Security, and Rescue Robotics, pages 28-33, Lausanne, Switzerland, October 2016. [DOI]

J. W. Yao, V. R. Desaraju, and N. Michael. Experience-Based Models of Surface Proximal Aerial Robot Flight Performance in Wind. In Intl. Sym. on Exp. Robot., Tokyo, Japan, October 2016. [DOI] [PDF]

W. Tabib, R. Whittaker, and N. Michael. Efficient Multi-Sensor Exploration Using Dependent Observations and Conditional Mutual Information. In IEEE Intl. Sym. on Safety, Security, and Rescue Robotics, pages 42-47, Lausanne, Switzerland, October 2016. [DOI] [PDF]

S. Srivastava and N. Michael. Approximate Continuous Belief Distributions for Precise Autonomous Inspection. In IEEE Intl. Sym. on Safety, Security, and Rescue Robotics, pages 74-80, Lausanne, Switzerland, October 2016. [DOI] [PDF]

K. S. Shankar and N. Michael. Robust Direct Visual Odometry using Mutual Information. In IEEE Intl. Sym. on Safety, Security, and Rescue Robotics, pages 9-14, Lausanne, Switzerland, October 2016. Winner - Best Student Paper Award. [DOI] [PDF]

A. Desai, E. A. Cappo, and N. Michael. Dynamically Feasible and Safe Shape Transitions for Teams of Aerial Robots. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 5489-5494, Deajeon, Korea, October 2016. [DOI] [PDF]

T. E. Lee, N. Michael, and L. J. Petrosky. Autonomous Inspection of Nuclear Reactor Pressure Vessels via a Remotely Operated Vehicle. In ANS Decommissioning and Remote Systems, Pittsburgh, PA, July 2016.

S. Srivastava, N. Michael, and L. J. Petrosky. Visual Inertial Perception for Autonomous Inspection in Nuclear Power Plants. In ANS Decommissioning and Remote Systems, Pittsburgh, PA, July 2016. [PDF]

V. R. Desaraju and N. Michael. Experience-driven Predictive Control. In Workshop on Robot Learning and Planning at Robot.: Sci. and Syst., Ann Arbor, MI, June 2016. [PDF]

M. Corah and N. Michael. Coordinated Active Perception and Manipulation of a Payload with Unknown Center-of-Mass Location. In Workshop on Robot-Environment Interaction for Perception and Manipulation at Robot.: Sci. and Syst., Ann Arbor, MI, June 2016. [PDF]

E. A. Cappo, A. Desai, N. Dehghani, A. Momeni, and N. Michael. Interactive online choreography for a multi-quadrotor system. In Workshop on Human-Robot Interaction for Small and Personal Unmanned Aerial Vehicles at Robot.: Sci. and Syst., Ann Arbor, MI, June 2016. [PDF] [Video]

L. Liu and N. Michael. An MDP-based approximation method for goal constrained multi-MAV planning under action uncertainty. In IEEE Intl. Conf. on Robot. and Autom., pages 56-62, Stockholm, Sweden, May 2016. [DOI]

V. R. Desaraju and N. Michael. Fast Nonlinear Model Predictive Control via Partial Enumeration. In IEEE Intl. Conf. on Robot. and Autom., pages 1243-1248, Stockholm, Sweden, May 2016. [DOI] [PDF]

V. Indelman, E. Nelson, J. Dong, N. Michael, and F. Dellaert. Incremental Distributed Inference from Arbitrary Poses and Unknown Data Association: Using Collaborating Robots to Establish a Common Reference. IEEE Control Syst., 36(2):41-74, April, 2016. [DOI]

2015

V. R. Desaraju, N. Michael, M. Humenberger, R. Brockers, S. Weiss, J. Nash, and L. Matthies. Vision-based landing site evaluation and informed optimal trajectory generation toward autonomous rooftop landing. Auton. Robots, 39(3):445--463, October, 2015. [DOI] [PDF]

D. Mitchell, N. Chakraborty, K. Sycara, and N. Michael. Multi-Robot Persistent Coverage with stochastic task costs. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 3401--3406, Hamburg, Germany, September 2015. [DOI] [PDF]

E. Nelson and N. Michael. Information-theoretic occupancy grid compression for high-speed information-based exploration. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 4976--4982, Hamburg, Germany, September 2015. [DOI]

L. Liu, N. Michael, and D. A. Shell. Communication constrained task allocation with optimized local task swaps. Auton. Robots, 39(3):429--444, August, 2015. [DOI]

B. Charrow, G. Kahn, S. Patel, S. Liu, K. Goldberg, P. Abbeel, N. Michael, and V. Kumar. Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping. In Robot.: Sci. and Syst., pages Rome, Italy, July 2015. [DOI]

J. Dong, E. Nelson, V. Indelman, N. Michael, and F. Dellaert. Distributed real-time cooperative localization and mapping using an uncertainty-aware expectation maximization approach. In IEEE Intl. Conf. on Robot. and Autom., pages 5807--5814, Seattle, WA, May 2015. [DOI]

D. Mitchell, M. Corah, N. Chakraborty, K. Sycara, and N. Michael. Multi-robot long-term persistent coverage with fuel constrained robots. In IEEE Intl. Conf. on Robot. and Autom., pages 1093--1099, Seattle, WA, May 2015. [DOI] [PDF]

B. Charrow, S. Liu, V. Kumar, and N. Michael. Information-theoretic mapping using Cauchy-Schwarz Quadratic Mutual Information. In IEEE Intl. Conf. on Robot. and Autom., pages 4791--4798, Seattle, WA, May 2015. [DOI]

S. Shen, N. Michael, and V. Kumar. Tightly-coupled monocular visual-inertial fusion for autonomous flight of rotorcraft MAVs. In IEEE Intl. Conf. on Robot. and Autom., pages 5303--5310, Seattle, WA, May 2015. [DOI]

2014

L. Liu, D. A. Shell, and N. Michael. From Selfish Auctioning to Incentivized Marketing. Auton. Robots, 37(4):417-430, December, 2014. [DOI]

B. Charrow, V. Kumar, and N. Michael. Approximate representations for multi-robot control policies that maximize mutual information. Auton. Robots, 37(4):383-400, 12, 2014. [DOI]

M. Turpin, N. Michael, and V. Kumar. An Approximation Algorithm for Time Optimal Multi-Robot Routing. In Intl. Workshop on the Algorithmic Foundations of Robot., Istanbul, Turkey, August 2014. [DOI]

B. Charrow, N. Michael, and V. Kumar. Active control strategies for localizing a large number of devices with range-only sensors. In Intl. Workshop on the Algorithmic Foundations of Robot., Istanbul, Turkey, August 2014. [DOI]

V. R. Desaraju, L. Liu, and N. Michael. Multi-Vehicle Adaptive Planning with Online Estimated Cost due to Disturbance Forces. In Intl. Conf. on Auton. Syst., Padova, Italy, July 2014. [DOI]

V. Indelman, N. Michael, and F. Dellaert. Incremental distributed robust inference from arbitrary robot poses via EM and model selection. In Workshop on Distributed Control and Estimation for Robotic Vehicle Networks at Robots.: Sci. and Syst., Berkeley, CA, July 2014.

V. R. Desaraju, N. Michael, M. Humenberger, R. Brockers, S. Weiss, and L. Matthies. Vision-based Landing Site Evaluation and Trajectory Generation Toward Rooftop Landing. In Robot.: Sci. and Syst., Berkeley, CA, July 2014. [DOI]

L. Liu, N. Michael, and D. A. Shell. Fully Decentralized Task Swaps with Optimized Local Searching. In Robot.: Sci. and Syst., pages Berkeley, CA, July 2014. [DOI]

E. Nelson, V. Indelman, N. Michael, and F. Dellaert. An Experimental Study of Robust Distributed Multi-Robot Data Association from Arbitrary Poses. In Intl. Sym. on Exp. Robot., Marrakech, Morocco, June 2014. [DOI]

K. Mohta, M. Turpin, A. Kushleyev, D. Mellinger, N. Michael, and V. Kumar. QuadCloud: A Rapid Response Force with Quadrotor Teams. In Intl. Sym. on Exp. Robot., Marrakech, Morocco, June 2014. [DOI]

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar. Initialization-Free Monocular Visual-Inertial Estimation with Application to Autonomous MAVs. In Intl. Sym. on Exp. Robot., Marrakech, Morocco, June 2014. [DOI]

M. Turpin, K. Mohta, N. Michael, and V. Kumar. Goal Assignment and Trajectory Planning for Large Teams of Interchangeable Robots. Auton. Robots, 37(4):401-415, May, 2014. [DOI]

L. Liu and N. Michael. Energy-Aware Aerial Robot Deployment via Bipartite Graph Matching. In Intl. Conf. on Unmanned Aircraft Syst., Orlando, FL, May 2014. [DOI]

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 IEEE Intl. Conf. on Robot. and Autom., pages 4974-4981, Hong Kong, China, May 2014. [DOI]

V. Indelman, E. Nelson, N. Michael, and F. Dellaert. Multi-Robot Pose Graph Localization and Data Association from Unknown Initial Relative Poses via Expectation Maximization. In IEEE Intl. Conf. on Robot. and Autom., pages 593-600, Hong Kong, China, May 2014. [DOI]

V. R. Desaraju and N. Michael. Hierarchical Adaptive Planning in Environments with Uncertain, Spatially-Varying Disturbance Forces. In IEEE Intl. Conf. on Robot. and Autom., pages 5171-5176, Hong Kong, China, May 2014. [DOI]

B. Charrow, N. Michael, and V. Kumar. Cooperative Multi-Robot Estimation and Control for Radio Source Localization. Intl. J. Robot. Research, 33(4):569-580, April, 2014. [DOI]

M. Turpin, N. Michael, and V. Kumar. CAPT: Concurrent assignment and planning of trajectories for multiple robots. Intl. J. Robot. Research, 33(1):98-112, January, 2014. [DOI]

2013

S. Shen, N. Michael, and V. Kumar. Obtaining Liftoff Indoors: Autonomous Navigation in Confined Indoor Environments. IEEE Robot. Autom. Mag., 20(4):40-48, December, 2013. [DOI]

B. Grocholsky and N. Michael. Exploiting Mobility Heterogeneity in Micro-Aerial Vehicle Deployments for Environment Exploration. In Intl. Workshop on Wireless Networking and Control for Unmanned Auton. Vehicles, Atlanta, GA, December 2013. [DOI]

T. Ozaslan, S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar. Inspection of Penstocks and Featureless Tunnel-like Environments using Micro UAVs. In Conf. on Field and Service Robot., pages Brisbane, Australia, December 2013. [DOI]

M. Turpin, K. Mohta, N. Michael, and V. Kumar. Goal Assignment and Trajectory Planning for Large Teams of Aerial Robots. In Robot.: Sci. and Syst., Berlin, Germany, June 2013. [DOI]

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar. Vision-Based State Estimation and Trajectory Control Towards High-Speed Flight with a Quadrotor. In Robot.: Sci. and Syst., Berlin, Germany, June 2013. [DOI]

B. Charrow, V. Kumar, and N. Michael. Approximate Representations for Multi-Robot Control Policies that Maximize Mutual Information. In Robot.: Sci. and Syst., Berlin, Germany, June 2013. [DOI]

L. C. A. Pimenta, G. A. S. Pereira, M. M. Goncalves, N. Michael, M. Turpin, and V. Kumar. Decentralized Controllers for Perimeter Surveillance with Aerial Robots. Adv. Robot., 27(9):697-709, May, 2013. Winner - Best Paper Award. [DOI]

M. Turpin, N. Michael, and V. Kumar. Concurrent assignment and planning of trajectories for large teams of interchangeable robots. In IEEE Intl. Conf. on Robot. and Autom., pages 834-840, Karlsruhe, Germany, May 2013. [DOI]

S. Shen, Y. Mulgaonkar, N. Michael, and V. Kumar. Vision-Based State Estimation for Autonomous Rotorcraft MAVs in Complex Environments. In IEEE Intl. Conf. on Robot. and Autom., pages 1750-1756, Karlsruhe, Germany, May 2013. [DOI]

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 Intl. Conf. on Robot. and Autom., pages 4873-4880, Karlsruhe, Germany, May 2013. [DOI]

L. C. A. Pimenta, G. A. S. Pereira, N. Michael, R. C. Mesquita, M. M. Bosque, L. Chaimowicz, and V. Kumar. Swarm Coordination Based on the Smoothed Particle Hydrodynamics Technique. IEEE Trans. Robot., 29(2):383-399, April, 2013. [DOI]

2012

N. Michael, M. Schwager, and V. Kumar. Editorial: Special Issue on 3D Exploration, Mapping, and Surveillance. Intl. J. Robot. Research, 31(12):1347-1348, October, 2012. [DOI]

S. Shen, N. Michael, and V. Kumar. A Stochastic Differential Equation-based Exploration Algorithm for Autonomous Indoor 3D Exploration with a Micro-Aerial Vehicle. Intl. J. Robot. Research, 31(12):1431-1444, October, 2012. [DOI]

N. Michael, S. Shen, K. Mohta, Y. Mulgaonkar, 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. J. Field Robot., 29(5):832-841, September, 2012. [DOI]

V. Kumar and N. Michael. Opportunities and Challenges with Autonomous Micro Aerial Vehicles. Intl. J. Robot. Research, 31(11):1279-1291, September, 2012. [DOI]

M. Turpin, N. Michael, and V. Kumar. Trajectory Design and Control for Aggressive Formation Flight with Quadrotors. Auton. Robots, 33(1-2):143-156, August, 2012. [DOI]

N. Michael, D. Scaramuzza, and V. Kumar. Editorial: Special issue on micro-UAV perception and control. Auton. Robots, 33(1-2):1-3, August, 2012. [DOI]

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 Conf. on Field and Service Robot., Matsushima, Japan, July 2012. [DOI]

M. Turpin, N. Michael, and V. Kumar. Trajectory Planning and Assignment in Multirobot Systems. In Intl. Workshop on the Algorithmic Foundations of Robot., Cambridge, MA, June 2012. [DOI]

S. Shen and N. Michael. State Estimation for Indoor and Outdoor Operation with a Micro-Aerial Vehicle. In Intl. Sym. on Exp. Robot., Quebec City, Canada, June 2012. [DOI]

B. Charrow, N. Michael, and V. Kumar. Cooperative Multi-Robot Estimation and Control for Radio Source Localization. In Intl. Sym. on Exp. Robot., Quebec City, Canada, June 2012. [DOI]

M. Turpin, N. Michael, and V. Kumar. Decentralized Formation Control with Variable Shapes for Aerial Robots. In IEEE Intl. Conf. on Robot. and Autom., pages 23-30, Saint Paul, MN, May 2012. [DOI]

S. Shen, N. Michael, and V. Kumar. Autonomous Indoor 3D Exploration with a Micro-Aerial Vehicle. In IEEE Intl. Conf. on Robot. and Autom., pages 9-15, Saint Paul, MN, May 2012. [DOI]

N. Atanasov, J. L. Ny, N. Michael, and G. J. Pappas. Stochastic Source Seeking in Complex Environments. In IEEE Intl. Conf. on Robot. and Autom., pages 3013-3018, Saint Paul, MN, May 2012. [DOI]

D. Mellinger, N. Michael, and V. Kumar. Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors. Intl. J. Robot. Research, 31(5):664-674, April, 2012. [DOI]

2011

N. Michael and V. Kumar. Control of Ensembles of Aerial Robots. Proc. of the IEEE, 99(9):1587-1602, September, 2011. [DOI]

N. Michael, E. Stump, and K. Mohta. Persistent Surveillance with a Team of MAVs. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 2708-2714, San Francisco, CA, September 2011. [DOI]

J. Derenick, N. Michael, and V. Kumar. Energy-Aware Coverage Control with Docking for Networked Robots. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 3667-3672, San Francisco, CA, September 2011. [DOI]

V. Kumar and N. Michael. Opportunities and Challenges with Autonomous Micro Aerial Vehicles. In Intl. Sym. on Robot. Research, Flagstaff, AZ, August 2011. [DOI]

M. Turpin, N. Michael, and V. Kumar. Trajectory Design and Control for Aggressive Formation Flight with Quadrotors. In Intl. Sym. on Robot. Research, Flagstaff, AZ, August 2011.

E. Stump and N. Michael. Multi-Robot Persistent Surveillance Planning as a Vehicle Routing Problem. In IEEE Conf. on Autom. Sci. and Eng., pages 569-575, Trieste, Italy, August 2011. Finalist - Best Paper Award. [DOI]

M. Schwager, N. Michael, V. Kumar, and D. Rus. Time Scales and Stability in Networked Multi-Robot Systems. In IEEE Intl. Conf. on Robot. and Autom., pages 3855-3862, Shanghai, China, May 2011. Finalist - Best Paper Award. [DOI]

E. Stump, N. Michael, V. Kumar, and V. Isler. Visibility-based Deployment of Robot Formations for Communication Maintenance. In IEEE Intl. Conf. on Robot. and Autom., pages 4498-4505, Shanghai, China, May 2011. [DOI]

S. Shen, N. Michael, and V. Kumar. Autonomous Multi-Floor Indoor Navigation with a Computationally Constrained {MAV}. In IEEE Intl. Conf. on Robot. and Autom., pages 20-25, Shanghai, China, May 2011. Finalist - Best Paper Award. [DOI]

N. Michael and V. Kumar. Autonomous Navigation with Teams of Aerial Robots. In SPIE Conf. on Micro and Nanotechnology Sensors, Syst., and Applications, Orlando, FL, April 2011. [DOI]

J. Rogers, M. Paluri, A. Cunningham, H. I. Christensen, N. Michael, V. Kumar, J. Ma, and L. Matthies. Distributed autonomous mapping of indoor environments. In SPIE Conf. on Micro and Nanotechnology Sensors, Syst., and Applications, Orlando, FL, April 2011. [DOI]

J. Fink, N. Michael, S. Kim, and V. Kumar. Planning and Control for Cooperative Manipulation and Transportation with Aerial Robots. Intl. J. Robot. Research, 30(3):324-334, March, 2011. [DOI]

N. Michael, J. Fink, and V. Kumar. Cooperative Manipulation and Transportation with Aerial Robots. Auton. Robots, 30(1):73-86, January, 2011. [DOI]

2010

D. Mellinger, N. Michael, and V. Kumar. Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors. In Intl. Sym. on Exp. Robot., Delhi, India, Dec. 2010. [DOI]

J. Rogers, A. Trevor, C. Nieto-Granda, A. Cunningham, M. Paluri, N. Michael, and H. I. Christensen. Effects of sensory precision on mobile robot localization and mapping. In Intl. Sym. on Exp. Robot., Delhi, India, Dec. 2010. [DOI]

N. Michael, M. Schwager, V. Kumar, and D. Rus. An Experimental Study of Time Scales and Stability in Networked Multi-Robot Systems. In Intl. Sym. on Exp. Robot., Delhi, India, Dec. 2010. [DOI]

S. Bhattacharya, N. Michael, and V. Kumar. Distributed Converage and Exploration in Unknown Non-Convex Environments. In Intl. Sym. on Distributed Auton. Syst., Lausanne, Switzerland, Nov. 2010. [DOI]

D. Mellinger, M. Shomin, N. Michael, and V. Kumar. Cooperative Grasping and Transport using Multiple Quadrotors. In Intl. Sym. on Distributed Auton. Syst., Lausanne, Switzerland, November 2010. Winner - Best Student Paper Award. [DOI]

N. Michael, D. Mellinger, Q. Lindsey, and V. Kumar. The GRASP Multiple Micro UAV Testbed. IEEE Robot. Autom. Mag., 17(3):56-65, September, 2010. [DOI]

V. M. Goncalves, L. C. A. Pimenta, C. A. Maia, G. A. S. Pereira, B. C. O. Dutra, N. Michael, J. Fink, and V. Kumar. Circulation of curves using vector fields: actual robot experiments in 2D and 3D workspaces. In IEEE Intl. Conf. on Robot. and Autom., pages 1136-1141, Anchorage, AK, May 2010. [DOI]

2009

G. L. Mariottini, F. Morbidi, D. Prattichizzo, N. V. Valk, N. Michael, G. J. Pappas, and K. Daniilidis. Vision-Based Localization for Leader--Follower Formation Control. IEEE Trans. Robot., 25(6):1431-1438, Dec. 2009. [DOI]

J. Fink, N. Michael, A. Kushleyev, and V. Kumar. Experimental Characterization of Radio Signal Propagation in Indoor Environments with Application to Estimation and Control. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 2834-2839, St. Louis, MO, October 2009. [DOI]

N. Michael and V. Kumar. Planning and Control of Ensembles of Robots with Nonholonomic Constraints. Intl. J. Robot. Research, 28(8):962-975, Aug. 2009. [DOI]

N. Moshtagh, N. Michael, A. Jadbabaie, and K. Daniilidis. Vision-Based, Distributed Control Laws for Motion Coordination of Nonholonomic Robots. IEEE Trans. Robot., 25(4):851-860, Aug. 2009. [DOI]

J. Fink, N. Michael, S. Kim, and V. Kumar. Planning and Control for Cooperative Manipulation and Transportation with Aerial Robots. In Intl. Sym. on Robot. Research, Luzern, Switzerland, Aug. 2009. [DOI]

N. Michael, S. Kim, J. Fink, and V. Kumar. Kinematics and Statics of Cooperative Multi-Robot Aerial Manipulation with Cables. In ASME Intl. Design Eng. Tech. Conf. & Comput. and Inf. in Eng. Conf., pages 83-91, San Diego, CA, Aug. 2009. [DOI]

N. Michael, J. Fink, and V. Kumar. Cooperative Manipulation and Transportation with Aerial Robots. In Robot.: Sci. and Syst., Seattle, WA, June 2009. Winner - Best Student Paper Award. [DOI]

N. Michael, S. Kim, J. Fink, and V. Kumar. Kinematics and statics of cooperative multi-robot aerial manipulation with cables. Technical report, University of Pennsylvania, Philadelphia, PA, Mar. 2009.

2008

N. Michael, J. Fink, and V. Kumar. Controlling Ensembles of Robots via a Supervisory Aerial Robot. Adv. Robot., 22(12):1361-1377, Dec. 2008. [DOI]

N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas. Maintaining connectivity in mobile robot networks. In Intl. Sym. on Exp. Robot., Athens, Greece, July 2008. [DOI]

N. Moshtagh, N. Michael, A. Jadbabaie, and K. Daniilidis. Bearing-Only Control Laws For Balanced Circular Formations of Ground Robots. In Robot.: Sci. and Syst., Zurich, Switzerland, June 2008. [DOI]

N. Michael and V. Kumar. Controlling Shapes of Ensembles of Robots of Finite Size with Nonholonomic Constraints. In Robot.: Sci. and Syst., Zurich, Switzerland, June 2008. Finalist - Best Student Paper Award. [DOI]

L. C. A. Pimenta, N. Michael, R. C. Mesquita, G. A. S. Pereira, and V. Kumar. Control of Swarms Based on Hydrodynamic Models. In IEEE Intl. Conf. on Robot. and Autom., pages 1948-1953, Pasadena, CA, May 2008. [DOI]

N. Michael, M. M. Zavlanos, V. Kumar, and G. J. Pappas. Distributed Multi-Robot Task Assignment and Formation Control. In IEEE Intl. Conf. on Robot. and Autom., pages 128-133, Pasadena, CA, May 2008. [DOI]

N. Michael, J. Fink, and V. Kumar. Experimental Testbed for Large Multi-Robot Teams: Verification and Validation. IEEE Robot. Autom. Mag., 15(1):53-61, Mar. 2008. [DOI]

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 Intl. Sym. on Robot. Research, Hiroshima, Japan, Nov. 2007. [DOI]

N. Michael, J. Fink, and V. Kumar. Controlling a Team of Ground Robots via an Aerial Robot. In IEEE/RSJ Intl. Conf. on Intell. Robots and Syst., pages 965-970, San Diego, CA, Oct. 2007. [DOI]

J. Fink, N. Michael, and V. Kumar. Composition of Vector Fields for Multi-Robot Manipulation via Caging. In Robot.: Sci. and Syst., Atlanta, GA, June 2007. [DOI]

2006

N. Michael, C. Belta, and V. Kumar. Controlling Three Dimensional Swarms of Robots. In IEEE Intl. Conf. on Robot. and Autom., pages 964-969, Orlando, FL, May 2006. [DOI]

2005

L. Chaimowicz, N. Michael, and V. Kumar. Controlling swarms of robots using interpolated implicit functions. In IEEE Intl. Conf. on Robot. and Autom., pages 2487-2492, Barcelona, Spain, Apr. 2005. [DOI]