Publications

Journal Papers

[J13]   Karthik Elamvazhuthi, Hendrik Kuiper, Matthias Kawski, and Spring Berman. Bilinear Controllability of a Class of Advection-Reaction-Diffusion Systems. Submitted to IEEE Transactions on Automatic Control (TAC), 2017.

[J12]   Ragesh K. Ramachandran and Spring Berman. Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength. Submitted to IEEE Robotics and Automation Letters (RA-L), 2017.

[J11]   Vaibhav Deshmukh, Karthik Elamvazhuthi, Shiba Biswal, Zahi Kakish, and Spring Berman. Mean-Field Stabilization of Markov Chain Models for Robotic Swarms: Computational Approaches and Experimental Results.  Submitted to IEEE Robotics and Automation Letters (RA-L), 2017.

[J10]   Karthik Elamvazhuthi, Hendrik Kuiper, and Spring Berman. PDE-Based Optimization for Stochastic Mapping and Coverage Strategies using Robotic Swarms. In revision for Automatica, 2017. [BibTex]

[J9]   Fangbo Zhang, Andrea L. Bertozzi, Karthik Elamvazhuthi, and Spring Berman.  Performance Bounds on Spatial Coverage Tasks by Stochastic Robotic Swarms. Accepted to IEEE Transactions on Automatic Control (TAC), 2017. PDF 

[J8]   Ragesh K. Ramachandran, Sean Wilson, and Spring Berman.  A Probabilistic Approach to Automated Construction of Topological Maps using a Stochastic Robotic Swarm. IEEE Robotics and Automation Letters (RA-L), 2(2):616-623, 2017. [BibTex] PDF

[J7]   Sean Wilson, Ruben Gameros, Michael Sheely, Matthew Lin, Kathryn Dover, Robert Gevorkyan, Matt Haberland, Andrea Bertozzi, and Spring Berman.  Pheeno, A Versatile Swarm Robotic Research and Education Platform. IEEE Robotics and Automation Letters (RA-L), 1(2):884-891, 2016. [BibTex] PDF  The link to the Pheeno GitHub page is here

[J6]   Sean Wilson, Theodore P. Pavlic, Ganesh P. Kumar, Aurélie Buffin, Stephen Pratt, and Spring Berman.  Design of Ant-Inspired Stochastic Control Policies for Collective Transport by Robotic Swarms.  Swarm Intelligence, 8(4):303-327, Dec. 2014. [BibTex]  Link

[J5]   Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.  Control of Stochastic Boundary Coverage by Multirobot Systems. ASME Journal of Dynamic Systems, Measurement and Control, Special Issue on Stochastic Models, Control, and Algorithms in Roboticsvol. 137, issue 3, 034505, Oct. 2014.  [Technical Brief]   PDF

[J4]   Sabine Hauert, Spring Berman, Radhika Nagpal, and Sangeeta N. Bhatia.  A Computational Framework for Identifying Design Guidelines to Increase the Penetration of Targeted Nanoparticles into Tumors.  Nano Today, 8(6):566-576, Dec. 2013. [BibTex] Link

[J3]   Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, and Stephen Pratt.  Experimental Study and Modeling of Group Retrieval in Ants as an Approach to Collective Transport in Swarm Robotic SystemsProceedings of the IEEE, Special Issue on Swarming in Natural and Engineered Systems, 99(9):1470-1481, 2011. [BibTex] Link 

[J2]   Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar.  Optimized Stochastic Policies for Task Allocation in Swarms of Robots. IEEE Transactions on Robotics, vol. 25, no. 4, pp. 927-937, 2009. [BibTex] Link

[J1]   M. Ani Hsieh, Adam Halasz, Spring Berman, and Vijay Kumar.  Biologically Inspired Redistribution of a Swarm of Robots Among Multiple Sites.  Swarm Intelligence, vol. 2, no. 2, pp. 121-141, 2008. [BibTex]  PDF

Book Chapters

[B1]   Spring Berman, Adam Halasz, and M. Ani Hsieh.  Ant-Inspired Allocation: Top-Down Controller Design for Distributing a Robot Swarm Among Multiple TasksBio-Inspired Computing and Networkinged. Yang Xiao, CRC Press, New York, 2011. [BibTex] PDF

Refereed Conference Papers

[C26]  Karthik Elamvazhuthi, Shiba Biswal, and Spring Berman. Mean-Field Stabilization of Robotic Swarms to Probability Distributions with Disconnected Supports. Submitted to the 2018 American Control Conference (ACC), Milwaukee, WI.

[C25]  Hamed Farivarnejad and Spring Berman. Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport. Submitted to the 2018 American Control Conference (ACC), Milwaukee, WI.

[C24]  Karthik Elamvazhuthi, Shiba Biswal, Vaibhav Deshmukh, Matthias Kawski, and Spring Berman. Mean-Field Controllability and Decentralized Stabilization of Markov Chains. Accepted to the 56th IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017. [BibTex]  PDF

[C23]  Karthik Elamvazhuthi, Hendrik Kuiper, and Spring Berman. Controllability to Equilibria of the 1-D Fokker-Planck Equation with Zero-Flux Boundary Condition. Accepted to the 56th  IEEE Conference on Decision and Control (CDC), Melbourne, Australia, 2017. [BibTex]  PDF

[C22]   Hanjun Li, Chunhan Feng, Henry Ehrhard, Yijun Shen, Bernardo Cobos, Fangbo Zhang, Karthik Elamvazhuthi, Spring Berman, Matt Haberland, and Andrea L. Bertozzi.  Decentralized Stochastic Control of Robotic Swarm Density: Theory, Simulation, and Experiment. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada, 2017.  PDF

[C21]   Ragesh K. Ramachandran and Spring Berman.  The Effect of Communication Topology on Scalar Field Estimation by Large Networks with Partially Accessible Measurements. American Control Conference (ACC), Seattle, WA, 2017. [BibTex] PDF

[C20]   Ragesh K. Ramachandran, Sean Wilson, and Spring Berman.  A Probabilistic Topological Approach to Feature Identification using a Stochastic Robotic Swarm.  International Symposium on Distributed Autonomous Robotic Systems (DARS), London, UK, 2016. [BibTex] PDF

[C19]   Hamed Farivarnejad, Sean Wilson, and Spring Berman.  Decentralized Sliding Mode Control for Autonomous Collective Transport by Multi-Robot Systems.  IEEE Conference on Decision and Control (CDC), Las Vegas, NV, 2016. [BibTex] PDF

[C18]   Karthik Elamvazhuthi, Chase Adams, and Spring Berman.  Coverage and Field Estimation on Bounded Domains by Diffusive Swarms.  IEEE Conference on Decision and Control (CDC), Las Vegas, NV, 2016. [BibTex]  PDF

[C17]   Karthik Elamvazhuthi, Sean Wilson, and Spring Berman.  Confinement Control of Double Integrators using Partially Periodic Leader Trajectories.  American Control Conference (ACC), Boston, MA, 2016. [BibTex] PDF

[C16]    Ragesh K. Ramachandran, Karthik Elamvazhuthi, and Spring Berman.  An Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm.  International Symposium on Robotics Research (ISRR), Sestri Levante, Italy, 2015. [BibTex] PDF

[C15]    Karthik Elamvazhuthi and Spring Berman.  Optimal Control of Stochastic Coverage Strategies for Robotic Swarms. IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015. [BibTex]  PDF

[C14]    Karthik Elamvazhuthi and Spring Berman.  Scalable Formation Control of Multi-Robot Chain Networks using a PDE Abstraction.  International Symposium on Distributed Autonomous Robotic Systems (DARS), Daejeon, Korea, 2014. [BibTex] PDF

[C13]    Ganesh P. Kumar and Spring Berman.  Statistical Analysis of Stochastic Multi-Robot Boundary Coverage.  IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014. [BibTex]  PDF

[C12]    Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.  An Enzyme-Inspired Approach to Stochastic Allocation of Robotic Swarms Around Boundaries.  International Symposium on Robotics Research (ISRR), Singapore, 2013.  [BibTex] PDF

[C11]    Ganesh P. Kumar, Aurélie Buffin, Theodore P. Pavlic, Stephen Pratt, and Spring Berman.  A Stochastic Hybrid System Model of Collective Transport in the Desert Ant Aphaenogaster cockerelliInternational Conference on Hybrid Systems: Computation and Control (HSCC), Philadelphia, PA, 2013. [BibTex] PDF

[C10]  Karthik Dantu, Spring Berman, Bryan Kate, and Radhika Nagpal.  A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle CollectivesIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve, Portugal, 2012. [BibTex] PDF

[C9]    Spring Berman, Radhika Nagpal, and Adam Halasz.  Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011. [BibTex] PDF

[C8]    Spring Berman, Vijay Kumar, and Radhika Nagpal.  Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination.  IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, 2011. [BibTex]  PDF

[C7]    Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, and Stephen Pratt.  Study of Group Food Retrieval by Ants as a Model for Multi-Robot Collective Transport StrategiesRobotics: Science and Systems Conference (RSS), Zaragoza, Spain, 2010. [BibTex]  PDF

[C6]    Loic Matthey, Spring Berman, and Vijay Kumar.  Stochastic Strategies for a Swarm Robotic Assembly SystemIEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, pp. 1953-1958, 2009. [BibTex] PDF

[C5]    Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar.  Navigation-Based Optimization of Stochastic Strategies for Allocating a Robot Swarm Among Multiple Sites. IEEE Conference on Decision and Control (CDC), Cancun, Mexico, pp. 4376-4381, 2008. [BibTex]  PDF

[C4]   Adam Halasz, M. Ani Hsieh, Spring Berman, and Vijay Kumar.  Dynamic Redistribution of a Swarm of Robots Among Multiple Sites.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, pp. 2320-2325, 2007. [BibTex] PDF

[C3]   Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt.  Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations.  IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 2318-2323, 2007. [BibTex] PDF

[C2]   Spring Berman, Adam Halasz, and Vijay Kumar.  MARCO: A Reachability Algorithm for Multi-Affine Systems with Applications to Biological Systems.  International Conference on Hybrid Systems: Computation and Control (HSCC). LNCS 4416, eds. A. Bemporad, A. Bicchi, G. Buttazzo, pp. 76-89, 2007. [BibTex] PDF

[C1]   Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt.  Algorithms for the Analysis and Synthesis of a Bio-Inspired Swarm Robotic SystemInternational Conference on the Simulation of Adaptive Behavior (SAB’06). LNCS 4433, eds. E. Sahin, W. Spears, A. Winfield, pp. 56-70, 2007. [BibTex] PDF

Invited Conference Papers

[IC1]   Spring Berman and Vijay Kumar.  Abstractions and Algorithms for Assembly Tasks with Large Numbers of Robots and Parts.  IEEE Conference on Automation Science and Engineering (CASE), Bangalore, India, 2009[BibTex] PDF

Refereed Abstracts

[A4]   Ragesh Kumar Ramachandran, and Spring Berman.  Topological Mapping Using a Heterogeneous Robotic SwarmWorkshop on Emerging Topological Techniques in Robotics, ICRA 2016: International Conference on Robotics and Automation, Stockholm, Sweden, 2016.  Poster

[A3]   Sean Wilson, Ruben Gameros, and Spring Berman.  Pheeno, A Versatile Swarm Robotic Research and Education PlatformWorkshop on Embodied Sensorimotor Interaction: From Locomotion to Collective Behavior, SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics, Kyoto, Japan, 2015.   

[A2]   Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, Stephen C. Pratt, and Spring Berman.  Enzyme-Inspired Stochastic Algorithm Implementations for Multi-Robot Teams that Approximate Robust Social-Insect Behaviors3rd Workshop on Biological Distributed Algorithms (BDA), Cambridge, MA, 2015.   

[A1]   Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.  Design of Stochastic Policies for Synchronous Collective Transport of Multiple Payloads by Robotic SwarmsCollective Behaviours and Social Dynamics Workshop at the European Conference on Artificial Life (ECAL), Taormina, Italy, 2013.   

Technical Reports

[Tech1]   Spring Berman (supervised by Joshua Graver). Comparison of the Lift, Drag, and Pitch Moment Coefficients of a Slocum Glider Wind Tunnel Model with Computational Results by Vehicle Control Technologies, Inc..  MAE 222 Final Project, Princeton University, May 2003.  PDF

Theses

[T4]   Sean Wilson. Scalable Control Strategies and a Customizable Swarm Robotic Platform for Boundary Coverage and Collective Transport TasksPh.D. thesis, Mechanical Engineering, Arizona State University, 2017. [BibTex] Link

[T3]   Ganesh P Kumar. Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot SystemsPh.D. thesis, School of Computing, Informatics and Decision Systems, Arizona State University, 2016. [BibTex] PDF

[T2]   Karthik Elamvazhuthi. A Variational Approach to Planning, Allocation and Mapping in Robot Swarms using Infinite Dimensional Models.  M.S. thesis, Mechanical Engineering, Arizona State University, 2014. [BibTex] PDF

[T1]   Spring Berman. Abstractions, Analysis Techniques, and Synthesis of Scalable Control Strategies for Robot Swarms.  Ph.D. thesis, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 2010.  [BibTex] Link