W. Hönig, S. Kiesel, A. Tinka, J. W. Durham,, and N. Ayanian.
"Persistent and Robust Execution of MAPF Schedules in Warehouses",
in IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 1125-1131, April 2019.
[
PDF Preprint,
Video,
DOI
]
N. Ayanian.
"DART: Diversity-enhanced autonomy in robot teams",
in International Journal of Robotics Research (IJRR), March 2019.
[
DOI
]
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.
"Toward an internet of battlefield things: A resilience perspective",
in Computer, vol. 51, no. 11, pp. 24-36, Nov 2018.
[
DOI
]
W. Hönig, J. A. Preiss, T. K. S. Kumar, G. S. Sukhatme, and N. Ayanian.
"Trajectory Planning for Quadrotor Swarms",
in IEEE Transactions on Robotics (T-RO), Special Issue Aerial Swarm Robotics, vol. 34, no. 4, pp. 856-869, August 2018.
[
PDF Preprint,
Video,
DOI
]
N. Kamra, T. K. S. Kumar and N. Ayanian.
"Combinatorial Problems in Multirobot Battery Exchange Systems",
in IEEE Trans. Automation Science and Engineering, vol. 15, no. 2, pp. 852-862, April 2018.
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PDF Preprint,
DOI,
DBLP
]
H. Ma, W. Hönig, L. Cohen, T. Uras, H. Xu, T. K. S. Kumar, N. Ayanian and S. Koenig.
"Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems",
in IEEE Intelligent Systems, vol. 32, no. 6, pp. 6-12, November/December 2017.
[
PDF Preprint,
Video,
DOI,
DBLP
]
W. Hönig and N. Ayanian.
"Flying Multiple UAVs Using ROS",
Chapter in Robot Operating System (ROS): The Complete Reference (Volume 2), Springer, 2017.
[
PDF Preprint
This is a pre-print of a contribution published in "Robot Operating System (ROS)
The Complete Reference (Volume 2)" (Editor: Koubaa, Anis) published by Springer. The definitive authenticated version is available online via DOI.
]
K. Hausman, J. Müller, A. Hariharan, N. Ayanian and G. Sukhatme.
"Cooperative Control for Target Tracking with Onboard Sensing",
in International Journal of Robotics Research, vol. 34, no. 13, pp. 1660-1677, Nov. 2015.
[
PDF Preprint,
BibTeX
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Refereed Conference Publications
K. Strawn and N. Ayanian.
"Byzantine Fault Tolerant Consensus for Multi-Robot Pickup and Delivery ",
in International Symposium on Distributed Autonomous Robotic Systems (DARS), June 2021.
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PDF Preprint
]
J. Ren, V. Sathiyanarayanan, E. Ewing, B. Şenbaşlar, and N. Ayanian.
"Automatic Optimal Multi-Agent Path Finding Algorithm Selector (Extended Abstract)",
in AAAI Conference on Artificial Intelligence (AAAI), Accepted, to appear February 2021.
[
PDF Preprint
]
E.R. Boroson, R. Hewitt, N. Ayanian, and J.-P. de la Croix.
"Inter-Robot Range Measurements in Pose Graph Optimization",
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2020.
A. Molchanov, T. Chen, W. Hönig, 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 (IROS), Macau, China, November 2019.
E. R. Boroson and N. Ayanian.
"3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM",
in IEEE International Conference on Robotics and Automation (ICRA), Montréal, Canada, May 2019.
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PDF Preprint
]
D. Albani*, W. Hönig*, N. Ayanian, D. Nardi, and V. Trianni.
"Summary: Distributed Task Assignment and Path Planning
with Limited Communication for Robot Teams (Short Paper)",
in International Conference on Autonomous Agents and Multiagent Systems (AAMAS) 2019.
[
PDF Preprint
]
H. Ma, W. Hönig, S. Kumar, N. Ayanian, and S. Koenig.
"Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery",
Proceedings of the AAAI Conference on Artificial Intelligence (AAAI) 2019.
[
PDF Preprint,
Appendix,
Video 1,
Video 2,
Video 3,
Video 4,
Video 5,
Video 6
]
B. Şenbaşlar, W. Hönig, and N. Ayanian.
"Robust Trajectory Execution for Multi-Robot Teams Using Distributed Real-time Replanning (Extended Abstract)",
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Poster), Madrid, Spain, October 2018.
[
PDF Preprint,
Video
]
B. Şenbaşlar, W. Hönig, and N. Ayanian.
"Robust Trajectory Execution for Multi-Robot Teams Using Distributed Real-time Replanning",
in Int. Symp. on Distributed Autonomous Robotic Systems (DARS), Boulder, CO, USA, October 2018.
[
PDF Preprint,
Video,
Code
]
M. Debord, W. Hönig, and N. Ayanian.
"Trajectory Planning for Heterogeneous Robot Teams",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, October 2018.
[
PDF Preprint,
Video,
Blog Post
]
W. Hönig, S. Kiesel, A. Tinka, J. W. Durham, and N. Ayanian.
"Conflict-Based Search with Optimal Task Assignment",
In Proc. of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Stockholm, Sweden, July 2018.
[
PDF Preprint,
ACM,
DBLP
]
T. Phan, W. Hönig, and N. Ayanian.
"Mixed Reality Collaboration between Human-Agent Teams (Extended Abstract)",
in Proc. IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR) (Poster), Reutlingen, Germany, March 2018.
[
PDF Preprint,
Video,
DOI,
DBLP
]
N. Ayanian.
"DART: Diversity-enhanced autonomy in robot teams",
In International Symposium of Robotics Research (ISRR), Chile, Dec 2017.
[
Talk available online,
DOI
]
J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian.
"Downwash-Aware Trajectory Planning for Large Quadrotor Teams",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, September 2017.
[
PDF Preprint,
Video,
DOI,
DBLP
]
E. Boroson, F. Sha, and N. Ayanian.
"Model-Free Policy Gradients for Multi-Agent Shape
Formation (Extended Abstract)",
in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Poster), Vancouver, BC, Canada, September 2017.
[
PDF Preprint
]
W. Hönig, T. K. S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian, and S. Koenig.
"Summary: Multi-Agent Path Finding with Kinematic Contraints",
in International Joint Conferences on Artificial Intelligence, Melbourne, Australia, August 2017.
[
PDF,
Video,
DOI,
DBLP
]
J. A. Preiss*, W. Hönig*, G. S. Sukhatme, and N. Ayanian.
"Crazyswarm: A Large Nano-Quadcopter Swarm",
in Proc. IEEE International Conference on Robotics and Automation, Singapore, 2017.
[
PDF Preprint,
Video
]
J. A. Preiss*, W. Hönig*, G. S. Sukhatme, and N. Ayanian.
"Crazyswarm: A Large Nano-Quadcopter Swarm (Extended Abstract)",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Late Breaking), Daejeon, Korea, October 2016.
[
PDF Preprint,
Video
]
W. Hönig and N. Ayanian.
"Dynamic multi-target coverage with robotic cameras",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 2016.
[
PDF Preprint,
Video,
BibTeX
]
W. Hönig, T. K. S. Kumar, H. Ma, S. Koenig, and N. Ayanian
"Formation change for robot groups in occluded environments",
in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, October 2016.
[
PDF Preprint,
Video,
BibTeX
]
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.
[
PDF,
BibTeX
]
W. Hönig, T. K. S. Kumar, L. Cohen, H. Ma, H. Xu, N. Ayanian, and S. Koenig.
"Multi-Agent Path Finding with Kinematic Contraints",
in International Conference on Automated Planning and Scheduling, London, U.K., June 2016. AWARDED BEST PAPER IN ROBOTICS TRACK.
[
PDF Preprint,
Video,
BibTeX
]
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.
[
PDF Preprint,
BibTeX
]
A. Tavakoli, H. Nalbandian, and N. Ayanian.
"Crowdsourced Coordination Through Online Games",
in ACM/IEEE Intl Conf. on Human Robot Interaction Late Breaking Reports, 2016.
[
PDF Preprint,
BibTeX
]
W. Hönig, C. Milanes, L. Scaria, T. Phan, M. Bolas, and N. Ayanian.
"Mixed Reality for Robotics",
in IEEE/RSJ Intl Conf. on Intelligent Robots and Systems, Hamburg, Germany, September 2015.
[
PDF Preprint,
Video,
Code,
BibTeX
]
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, September 2015.
[
PDF Preprint,
BibTeX
]
N. Kamra and N. Ayanian.
“A Mixed Integer Programming Model for Timed Deliveries in Multirobot Systems”,
in IEEE Conf. on Automation Science and Engineering, Gothenburg, Sweden, August 2015.
[
PDF Preprint,
BibTeX
]
S. Garg and N. Ayanian.
"Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots",
in Robotics: Science and Systems X, Berkeley, CA, July 2014.
[
PDF Preprint,
BibTeX
]
K. Hausman, J. Müller, A. Hariharan, N. Ayanian, and G. Sukhatme.
"Cooperative Control for Target Tracking with Onboard Sensing",
in Proceedings of the Int'l Symposium on Experimental Robotics, Morrocco, June 2014.
[
PDF Preprint,
BibTeX
]
Master's Thesis
A. Hamza.
"Predicting mission power requirement for mobile robots" (Master’s Thesis).
Viterbi School of Engineering, University of Southern California, 2015.
[
Full Thesis
]
Workshops and Symposia
K. J. Strawn and N. Ayanian.
"Symmetry Agnostic Learning for Multi-Robot Zero-Shot Coordination",
in International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Auckland, New Zealand, May 2022.
[
PDF Preprint
]
M. Debord, W. Hönig, and N. Ayanian.
"Trajectory Planning for Heterogeneous Robot Teams",
in 2nd International Symposium on Aerial Robotics (ISAR), Philadelphia, USA, June 2018.
[
PDF Preprint,
Video
]
W. Hönig.
"Scalable Task and Motion Planning for Multi-Robot Systems in Obstacle-Rich Environments (Doctoral Consortium)",
In Proc. of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), Stockholm, Sweden, July 2018.
[
PDF Preprint,
ACM,
DBLP
]
E. Boroson, F. Sha, and N. Ayanian.
"Model-Free Policy Gradients for Multi-Agent Shape
Formation",
in IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), Los Angeles, CA, December 2017.
[
PDF Preprint
]
J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian.
"Downwash-Aware Trajectory Planning for Quadrotor Swarms",
in International Symposium on Aerial Robotics, Philadelphia, PA, USA, June 2017.
[
PDF Preprint
]
J. A. Preiss, W. Hönig, G. S. Sukhatme, and N. Ayanian.
"Downwash-Aware Trajectory Planning for Large Quadcopter Teams",
in Southern California Robotics Symposium (SCR), Los Angeles, CA, April 2017.
[
PDF Preprint
]
W. Hönig, A. Tavakoli, and N. Ayanian.
"Seamless Robot Simulation Integration for Education: A Case Study",
Workshop on the Role of Simulation in Robot Programming at SIMPAR 2016, San Francisco, CA, December 2016.
[
PDF Preprint,
Code
]
H. Ma, S. Koenig, N. Ayanian, L. Cohen, W. Hönig, T. K. S. Kumar, T. Uras, H. Xu, C. Tovey, and G. Sharon.
"Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios",
in IJCAI-16 Workshop on Multi-Agent Path Finding (WOMPF), New York City, NY, July 2016.
[
PDF Preprint
]
W. Hönig, T. K. S. Kumar, L. Cohen, H. Ma, S. Koenig, and N. Ayanian.
"Path Planning With Kinematic Constraints For Robot Groups",
in Southern California Robotics Symposium (SCR), San Diego, CA, April 2016.
[
PDF Preprint
]