{"id":51,"date":"2012-05-04T11:16:01","date_gmt":"2012-05-04T18:16:01","guid":{"rendered":"https:\/\/labs.engineering.asu.edu\/acs\/?page_id=51"},"modified":"2026-03-05T15:07:43","modified_gmt":"2026-03-05T22:07:43","slug":"publications","status":"publish","type":"page","link":"https:\/\/faculty.engineering.asu.edu\/acs\/publications","title":{"rendered":"Publications"},"content":{"rendered":"

Videos:\u00a0\u00a0<\/span>ACS Lab Youtube channel<\/a><\/span><\/h3>\n

Journal Papers<\/span><\/h2>\n

[J33]\u00a0 <\/strong>Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin, and Spring Berman. Robust Optimal Density Control of Robotic Swarms.<\/strong> Automatica,\u00a0<\/em>vol. 176, p. 112218, June 2025. <\/span>Preprint PDF<\/a><\/strong><\/span><\/p>\n

[J32]\u00a0 <\/strong>Armin Mokhtarian, Jianye Xu, Patrick Scheffe, Maximilian Kloock, Simon Sch\u00e4fer, Heeseung Bang, Viet-Anh Le, Sangeet Ulhas, Johannes Betz, Sean Wilson, Spring Berman, Liam Paull, Amanda Prorok, and Bassam Alrifaee. A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: A Guide for Creating a New Testbed.<\/strong> <\/span>IEEE Robotics & Automation Magazine<\/em>, pp. 2-19, Dec. 2024.<\/span><\/p>\n

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[J31]\u00a0 <\/strong>Karthik Elamvazhuthi and Spring Berman.\u00a0Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds. <\/strong>IEEE Transactions on Automatic Control (TAC)<\/em>, vol. 69, no. 3, pp. 1448-1463, March 2024. Preprint PDF<\/a><\/strong><\/span><\/div>\n<\/div>\n

[J30]\u00a0 <\/strong>Hamed Farivarnejad, Amir Salimi Lafmejani, and Spring Berman. Local Navigation-Like Functions for Safe Robot Navigation in Bounded Domains with Unknown Convex Obstacles. <\/strong><\/span>Automatica<\/em>, vol. 161, p. 111452, March 2024. Preprint PDF<\/strong><\/a><\/span><\/p>\n

[J29]\u00a0 <\/strong>Aniket Shirsat, Shatadal Mishra, Wenlong Zhang, and Spring Berman. Probabilistic Consensus on Feature Distribution for Multi-robot Systems with Markovian Exploration Dynamics. <\/strong>IEEE Robotics and Automation Letters (RA-L)<\/em>, vol. 7, no. 3, pp. 6407-6414, July 2022. PDF<\/strong><\/a><\/span><\/p>\n

[J28]\u00a0 <\/strong>Hamed Farivarnejad and Spring Berman.\u00a0Multi-Robot Control Strategies for Collective Transport.<\/strong> Annual Review of Control, Robotics, and Autonomous Systems, <\/em>vol. 5, no. 1, pp. 205-219, May 2022.<\/span> Preprint PDF<\/strong><\/a>; Link to e-print<\/strong><\/a><\/span><\/p>\n

[J27]<\/strong>\u00a0 Shiba Biswal, Karthik Elamvazhuthi, and Spring Berman. <\/span>Decentralized Control of Multi-Agent Systems using Local Density Feedback. <\/span><\/strong><\/span>IEEE Transactions on Automatic Control (TAC)<\/em>, vol. 67, issue 8, pp. 3920-3932, August 2022. PDF<\/a><\/strong><\/span><\/p>\n

[J26]\u00a0 <\/strong>Azadeh Doroudchi, Roozbeh Khodambashi, Mohammad Sharifzadeh, Dongting Li, Spring Berman, and Daniel M. Aukes. <\/span>Tracking Control of a Miniature 2-DOF Manipulator with Hydrogel Actuators.<\/span><\/strong>\u00a0IE<\/em><\/span>EE Robotics and Automation Letters<\/em> (RA-L),\u00a0<\/em>vol. 6, no. 3, pp. 4774-4781, July 2021. Presented at the <\/span>2021 IEEE International Conference on Soft Robotics (RoboSoft).<\/em>\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J25] <\/strong>\u00a0Roozbeh Khodambashi, Yousif Alsaid, Rossana Rico, Matthew M. Peet, Hamid Marvi, Rebecca E. Fisher, Spring Berman, Ximin He, and Daniel M. Aukes. <\/span>Heterogeneous Hydrogel Structures with Spatiotemporal Reconfigurability using Addressable and Tunable Voxels. <\/span><\/strong>Advanced Materials,<\/span><\/em> 33(10):2005906, 2021<\/span><\/span>. <\/span><\/em>PDF<\/strong><\/a><\/span><\/span><\/p>\n

[J24]\u00a0 \u00a0<\/strong>Shiba Biswal, Karthik Elamvazhuthi, and Spring Berman. Stabilization of Nonlinear Discrete-Time Systems to Target Measures Using Stochastic Feedback Laws.\u00a0 <\/strong>I<\/em>EEE Transactions on Automatic Control (TAC),<\/i> vol. 66, no. 5, pp. 1957-1972, May 2021.\u00a0PDF<\/a><\/strong><\/span><\/span><\/p>\n

[J23] <\/strong>\u00a0Karthik Elamvazhuthi, Zahi Kakish, Aniket Shirsat, and Spring Berman.\u00a0Controllability and Stabilization for Herding a Robotic Swarm using a Leader: A Mean-Field Approach.<\/strong> <\/span>IEEE Transactions on Robotics\u00a0(T-RO), <\/em><\/em>vol. 37, no. 2, pp. 418-432, April 2021.\u00a0PDF<\/strong><\/a><\/span><\/p>\n

[J22]\u00a0 <\/strong>Amir Salimi Lafmejani and Spring Berman.\u00a0Nonlinear MPC for Collision-Free and Deadlock-Free Navigation of Multiple Nonholonomic Mobile Robots. <\/strong>Robotics and Autonomous Systems, <\/em>vol. 141, 103774, Mar. 2021. PDF<\/strong><\/a><\/span><\/p>\n

[J21]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Shiba Biswal, and Spring Berman.\u00a0\u00a0Controllability and Decentralized Stabilization of the Kolmogorov Forward Equation for Markov Chains. <\/strong>Automatica,<\/em> vol. 124, p. 109351, 2021. [Brief Paper] <\/span>\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J20]<\/strong>\u00a0 Amir Salimi Lafmejani, Hamed Farivarnejad, and Spring Berman.\u00a0 Adaptation of Gradient-based Navigation Control <\/strong>for Holonomic Robots to Nonholonomic Robots.<\/strong> <\/span>IEEE Robotics and Automation Letters, <\/em>vol. 6, no. 1, pp. 191-198, Jan. 2021.\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J19]\u00a0 <\/strong>Hamed Farivarnejad and Spring Berman.\u00a0 Design and Analysis of a Potential-Based Controller for Safe Robot Navigation in Unknown GPS-Denied Environments with Strictly Convex Obstacles. <\/strong><\/span>Systems & Control Letters,<\/em> vol. 144, 104772, Oct. 2020. PDF<\/strong><\/a><\/span><\/p>\n

[J18]<\/strong>\u00a0 \u00a0Ragesh K. Ramachandran, Zahi Kakish, and Spring Berman.\u00a0Information Correlated L\u00e9vy Walk Exploration and Distributed Mapping Using a Swarm of Robots.<\/strong>\u00a0 I<\/em>EEE Transactions on Robotics (T-RO), <\/em>36(5):1422-1441, Oct. 2020.\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J17]<\/strong>\u00a0 Amir Salimi Lafmejani, Azadeh Doroudchi, Hamed Farivarnejad, Ximin He, Daniel Aukes, Matthew M. Peet, Hamid Marvi, Rebecca E. Fisher, and Spring Berman.\u00a0Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Continuum Robot.\u00a0 <\/strong>IEEE Robotics and Automation Letters (RA-L),\u00a0<\/em>5(2):3460-3467, April 2020.\u00a0PDF<\/a><\/strong><\/span><\/span><\/p>\n

[J16]\u00a0 \u00a0<\/strong>Hosain Bagheri, Anna Hu, Sheldon Cummings, Cayla Roy, Rachel Casleton, Ashley Wan, Nicole Erjavic, Spring Berman, Matthew M. Peet, Daniel M. Aukes, Ximin He, Stephen C. Pratt, Rebecca E. Fisher, and Hamid Marvi.\u00a0<\/span>\u00a0New Insights on the Control and Function of Octopus Suckers.\u00a0<\/strong>Advanced Intelligent Systems,\u00a0<\/em>2020.\u00a0Link<\/a><\/span><\/strong><\/span><\/span><\/p>\n

[J15]\u00a0<\/strong> Karthik Elamvazhuthi and Spring Berman.\u00a0Mean-Field Models in Swarm Robotics: A Survey.<\/strong>\u00a0Bioinspiration & Biomimetics, Special Issue on Swarming Systems,\u00a0<\/em>ed. David L. Hu, 15(1):015001, Nov. 2019. PDF<\/strong><\/a><\/span><\/span><\/p>\n

[J14]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Piyush Grover, and Spring Berman.\u00a0Optimal Transport over Deterministic Discrete-time Nonlinear Systems using Stochastic Feedback Laws.\u00a0<\/strong>IEEE Control Systems Letters (L-CSS)<\/em>,<\/span>\u00a03(1):168-173, 2019. PDF<\/strong><\/a><\/span><\/p>\n

[J13]<\/strong>\u00a0 \u00a0Sean Wilson,\u00a0Aur\u00e9lie Buffin, Stephen C. Pratt, and Spring Berman.\u00a0<\/span>Multi-Robot Replication of Ant Collective Towing Behaviours.<\/strong><\/span>\u00a0<\/strong>Royal Society Open Science<\/em>,<\/i> 5(10), 180409, 2018.\u00a0 Link<\/strong><\/a><\/span><\/p>\n

[J12]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Hendrik Kuiper, Matthias Kawski, and Spring Berman.\u00a0Bilinear Controllability of a Class of Advection-Diffusion-<\/strong>Reaction Systems.<\/strong><\/span>\u00a0<\/strong>I<\/em>EEE Transactions on Automatic Control\u00a0(TAC),<\/i> 64(6):2282-2297, 2018.\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J11]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Hendrik Kuiper, and Spring Berman.\u00a0PDE-Based Optimization for Stochastic Mapping and Coverage Strategies using Robotic Ensembles.<\/strong><\/span>\u00a0<\/strong>Automatica<\/i>, vol. 95, pp. 356-367, 2018. PDF<\/a><\/strong><\/span><\/p>\n

[J10]<\/strong>\u00a0 \u00a0Vaibhav 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.\u00a0\u00a0<\/strong><\/span>IEEE\u00a0Robotics and Automation Letters (RA-L)<\/i><\/i>, 3(3):1985-1992, 2018.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J9]<\/strong>\u00a0 \u00a0Fangbo Zhang,\u00a0Andrea L. Bertozzi, Karthik Elamvazhuthi, and Spring Berman. \u00a0Performance Bounds on Spatial Coverage Tasks by Stochastic Robotic\u00a0<\/strong>Swarms.<\/strong><\/span>\u00a0<\/strong>IEEE Transactions on Automatic Control\u00a0(TAC)<\/i>, 63(6):1563-1578, 2018. PDF<\/a><\/strong>\u00a0<\/span><\/p>\n

[J8]<\/strong>\u00a0 \u00a0Ragesh K. Ramachandran, Sean Wilson,\u00a0and Spring Berman. \u00a0A Probabilistic Approach to Automated Construction of Topological Maps using a Stochastic Robotic Swarm<\/strong>.<\/b><\/span>\u00a0<\/strong>IEEE Robotics and Automation Letters (RA-L)<\/i>, 2(2):616-623,\u00a0<\/span>2017. \u00a0PDF<\/a><\/strong><\/span><\/p>\n

[J7]<\/strong>\u00a0 \u00a0Sean Wilson, Ruben Gameros, Michael Sheely, Matthew Lin, Kathryn Dover, Robert Gevorkyan, Matt Haberland, Andrea Bertozzi, and Spring Berman. \u00a0Pheeno, A Versatile Swarm Robotic Research and Education Platform.\u00a0<\/strong>IEEE Robotics and Automation Letters (RA-L), <\/i>1(2):884-891, 2016.\u00a0 PDF<\/a>\u00a0 \u00a0 <\/strong><\/span><\/span><\/span>Pheeno GitHub page<\/a>; \u00a0 <\/strong><\/span>Guide to assembling and programming PheenoV2<\/a>\u00a0<\/span><\/strong>by Jonas Hansen (Harvard University)
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[J6]\u00a0<\/strong>\u00a0\u00a0Sean Wilson, Theodore P. Pavlic, Ganesh P. Kumar, Aur\u00e9lie Buffin, Stephen Pratt, and Spring Berman.\u00a0 Design of Ant-Inspired Stochastic Control Policies for Collective Transport by Robotic Swarms.<\/strong>\u00a0\u00a0<\/em>Swarm Intelligence,<\/em>\u00a08(4):303-327, Dec.\u00a02014.\u00a0[BibTex]<\/a>\u00a0 Link<\/strong><\/span><\/a><\/span><\/p>\n

[J5]<\/strong>\u00a0\u00a0 Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.\u00a0\u00a0Control of Stochastic Boundary Coverage by Multirobot Systems.\u00a0<\/strong>ASME Journal of Dynamic Systems, Measurement and Control, Special Issue on Stochastic Models, Control, and Algorithms in Robotics<\/em>,\u00a0<\/em>vol. 137, issue 3, 034505, Oct. 2014. \u00a0[Technical Brief]\u00a0\u00a0 PDF<\/strong><\/span><\/a><\/span><\/p>\n

[J4]\u00a0<\/strong>\u00a0 Sabine Hauert, Spring Berman, Radhika Nagpal, and Sangeeta N. Bhatia.\u00a0\u00a0A Computational Framework for Identifying Design Guidelines to Increase the Penetration of Targeted Nanoparticles into Tumors.<\/strong>\u00a0 <\/em>Nano Today<\/em>, <\/em>8(6):566-576,\u00a0Dec.\u00a02013.\u00a0[BibTex]<\/a> Link<\/strong><\/span><\/a><\/span><\/p>\n

[J3]\u00a0<\/strong>\u00a0 Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, and Stephen Pratt.\u00a0 Experimental Study and Modeling of Group Retrieval in Ants as an Approach to Collective Transport in Swarm Robotic Systems<\/strong>.\u00a0 <\/em>Proceedings of the IEEE, Special Issue on Swarming in Natural and Engineered Systems, <\/em>99(9):1470-1481, 2011.\u00a0[BibTex]<\/a> Link<\/span><\/a><\/span>\u00a0 <\/strong>
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[J2]\u00a0 \u00a0<\/span><\/strong>Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar.\u00a0 <\/span>Optimized Stochastic Policies for Task Allocation in Swarms of Robots<\/strong>. IEEE Transactions on Robotics<\/em>, <\/em>vol. 25, no. 4, pp. 927-937, 2009.\u00a0[BibTex]<\/a> <\/span>Link<\/span><\/strong><\/span><\/a><\/span><\/p>\n

[J1]\u00a0\u00a0 <\/span><\/strong>M. Ani Hsieh, Adam Halasz, Spring Berman, and Vijay Kumar.<\/span>\u00a0 Biologically Inspired Redistribution of a Swarm of Robots Among Multiple Sites<\/strong>. \u00a0<\/em><\/span><\/strong>Swarm Intelligence<\/em><\/span>, <\/em><\/span>vol. 2, no. 2, pp. 121-141, 2008. [BibTex]<\/a>\u00a0 PDF<\/strong><\/span><\/a>
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Book Chapters<\/span><\/h2>\n

[B2]<\/strong>\u00a0 Lixiao Huang, Nancy Cooke, Robert S. Gutzwiller, Spring Berman, Erin K. Chiou, Mustafa Demir, and Wenlong Zhang.\u00a0 Chapter 13: Distributed Dynamic Team Trust in Human, Artificial Intelligence, and Robot Teaming.\u00a0 <\/strong>Trust in Human-Robot Interaction<\/span>, ed. Chang S. Nam and Joseph B. Lyons, Academic Press, pp. 301-319, 2021. Link<\/strong><\/a><\/span><\/p>\n

[B1]<\/strong>\u00a0 Spring Berman, Adam Halasz, and M. Ani Hsieh.\u00a0 Ant-Inspired Allocation: Top-Down Controller Design for Distributing a Robot Swarm Among Multiple Tasks<\/strong>.\u00a0 <\/em>Bio-Inspired Computing and Networking<\/span>,\u00a0<\/em>ed. Yang Xiao, CRC Press, New York, 2011.\u00a0[BibTex]<\/a> PDF<\/span><\/a><\/strong>
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Refereed Conference Papers<\/span><\/h2>\n
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[C57]\u00a0\u00a0<\/strong>Bogdan I. Gavrea, Spring Berman, and Hamed Farivarnejad.\u00a0Virtual Rigid Obstacles for Safe Robot Navigation in Unknown Domains with Convex Obstacles.<\/strong> Accepted to\u00a0<\/span>the\u00a02026 European Control Conference (ECC).<\/em><\/span><\/p>\n

[C56]\u00a0 <\/strong>Shenbagaraj Kannapiran, Elena Oikonomou, Albert Chu, Spring Berman, and Theodore P. Pavlic. Ant-inspired Walling Strategies for Scalable Swarm Separation: Reinforcement Learning Approaches Based on Finite State Machines.<\/strong> 2025 International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM). <\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C55]\u00a0 <\/strong>Bryan C.H. Chu and Spring Berman.\u00a0Minimum Waypoint Spacing for VTOL Rotorcraft Trajectory Guidance using B-Spline Midpoint Refinement.<\/strong> Vertical Flight Society (VFS) 11th Biennial Autonomous VTOL Technical Meeting, <\/em>Phoenix, AZ, 2025.\u00a0<\/em>PDF<\/a><\/strong><\/span><\/p>\n

[C54]\u00a0 <\/strong>Shenbagaraj Kannapiran, Sreenithy Chandran, Suren Jayasuriya, and Spring Berman. PathFinder: Attention-Driven Dynamic Non-Line-of-Sight Tracking with a Mobile Robot. <\/strong>2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS).\u00a0<\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C53]\u00a0 <\/strong>Sangeet Sankaramangalam Ulhas, Shenbagaraj Kannapiran, and Spring Berman. GAN-Based Domain Adaptation for Creating Digital Twins of Small-Scale Driving Testbeds: Opportunities and Challenges. <\/strong>2024 IEEE Intelligent Vehicles Symposium (IV)<\/em>.\u00a0 PDF<\/a><\/strong><\/span><\/p>\n

[C52]\u00a0 <\/strong>Bryan C.H. Chu, James Keller, and Spring Berman. Trajectory Waypoint Spacing for Spline-Based Flight Plans.<\/strong>\u00a06th Decennial Vertical Flight Society (VFS) Aeromechanics Specialists’ Conference, <\/em>Santa Clara, CA, 2024.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[C51]\u00a0 <\/strong>Azadeh Doroudchi, Zhi Qiao, Wenlong Zhang, and Spring Berman. Implementation of a Cosserat Rod-Based Configuration Tracking Controller on a Multi-Segment Soft Robotic Arm.<\/strong> 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, Detroit, MI.\u00a0 PDF<\/strong><\/a><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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[C50]\u00a0 <\/strong>Shenbagaraj Kannapiran, Nalin Bendapudi, Ming-Yuan Yu, Devarth Parikh, Spring Berman, Ankit Vora, and Gaurav Pandey. Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching using an Attention Graph Neural Network.<\/strong>\u00a02023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, Detroit, MI.\u00a0 PDF<\/strong><\/a><\/span><\/p>\n

[C49]\u00a0 <\/strong>Rakshith Subramanyam, Kowshik Thopalli, Spring Berman, Pavan Turaga, and Jayaraman J. Thiagarajan.\u00a0Single-Shot Domain Adaptation via Target-Aware Generative Augmentations.<\/strong> 2023 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP).\u00a0\u00a0<\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C48]\u00a0 <\/strong>Amir Salimi Lafmejani, Spring Berman, and Georgios Fainekos.\u00a0NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments.<\/strong> 2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS<\/em><\/span>).\u00a0<\/em>PDF<\/a><\/strong><\/span><\/span><\/p>\n

[C47]\u00a0 <\/strong>Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin, and Spring Berman.\u00a0Indirect Optimal Control of Advection-Diffusion Fields through Robotic Swarms.<\/strong> 2022 International Symposium on Mathematical Theory of Networks and Systems (MTNS)<\/em>. PDF<\/strong><\/a><\/span><\/p>\n

[C46]\u00a0 <\/strong>Carlo Sinigaglia, Francesco Braghin, and Spring Berman.\u00a0Optimal Control of Velocity and Nonlocal Interactions in the Mean-Field Kuramoto Model.<\/strong> <\/span>2022<\/em> American Control Conference (ACC).\u00a0<\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C45]\u00a0 <\/strong>Shenbagaraj Kannapiran, Jeroen van Baar, and Spring Berman.\u00a0A Visual Inertial Odometry Framework for 3D Points, Lines and Planes. <\/strong>2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS<\/em><\/span><\/span>).<\/em>\u00a0PDF<\/strong><\/a><\/span><\/p>\n

[C44]\u00a0 <\/strong>Azadeh Doroudchi and Spring Berman.\u00a0Configuration Tracking for Soft Continuum Robotic Arms Using Inverse Dynamic Control of a Cosserat Rod Model.<\/strong><\/span> IEEE International Conference on Soft Robotics (RoboSoft), <\/em>2021. PDF<\/strong><\/span><\/a><\/span><\/p>\n

[C43]<\/strong>\u00a0 Amir Salimi Lafmejani, Hamed Farivarnejad, Seyed Mostafa Rezayat Sorkhabadi, Fatemeh Zahedi, Azadeh Doroudchi, and Spring Berman. Collision-Free Velocity Tracking of a Moving Ground Target by Multiple Unmanned Aerial Vehicles.<\/strong> International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2021). <\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C42]<\/strong>\u00a0 Zahi Kakish, Karthik Elamvazhuthi, and Spring Berman. Using Reinforcement Learning to Herd a Robotic Swarm to a Target Distribution. <\/strong><\/span>International Symposium on Distributed Autonomous Robotic Systems (DARS 2021).\u00a0<\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C41]\u00a0<\/strong> Hamed Farivarnejad, Amir Salimi Lafmejani, and Spring Berman. Fully Decentralized Controller for Multi-Robot Collective Transport in Space Applications. <\/strong><\/span>2021 <\/span>IEEE Aerospace Conference<\/em>. PDF<\/strong><\/a><\/span><\/span><\/p>\n

[C40]\u00a0 <\/strong>Aniket Shirsat, Karthik Elamvazhuthi, and Spring Berman. Multi-Robot Target Search using Probabilistic Consensus on Discrete Markov Chains.<\/strong> IEEE International Symposium on Safety, Security, and Rescue Robotics<\/em> (SSRR), pp. 108-115, 2020. PDF<\/strong><\/a><\/span><\/span><\/p>\n

[C39]\u00a0<\/strong> Aniket Shirsat and Spring Berman.\u00a0Decentralized Multi-target Tracking with Multiple Quadrotors using a PHD Filter.<\/strong> 2021 AIAA SciTech Forum.\u00a0<\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C38]\u00a0 <\/strong>Shenbagaraj Kannapiran and Spring Berman. Go-CHART: A Miniature Remotely Accessible Self-Driving Car Robot.<\/strong><\/span> IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2020.<\/em>\u00a0<\/span>PDF<\/strong><\/a><\/p>\n

[C37]\u00a0 <\/strong>Amir Salimi Lafmejani, Hamed Farivarnejad, and Spring Berman. H-Infinity Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics.<\/strong> IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2020.\u00a0PDF<\/strong><\/a><\/span><\/p>\n

[C36]\u00a0 <\/strong>Shiba Biswal, Karthik Elamvazhuthi, and Spring Berman.\u00a0Stabilization of Multi-Agent Systems to Target Distributions using Local Interactions.<\/strong><\/span> International Symposium on Mathematical Theory of Networks and Systems (MTNS), <\/em>2020. <\/em>PDF<\/strong><\/a><\/span><\/p>\n

[C35]<\/strong>\u00a0 Azadeh Doroudchi, Roozbeh Khodambashi, Amir Salimi Lafmejani, Daniel M. Aukes, and Spring Berman.\u00a0Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation. <\/strong>\u00a0IEEE International Conference on Soft Robotics (RoboSoft),<\/em> pp. 695-701, 2020.<\/em> PDF<\/strong><\/a><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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[C34]\u00a0<\/strong> Shiba Biswal, Karthik Elamvazhuthi, Hans Mittelmann, and Spring Berman.\u00a0Spectral Gap Optimization of Divergence Type Diffusion Operators.<\/strong> \u00a0European Control Conference (ECC), <\/em>2020.\u00a0PDF<\/a><\/strong><\/span><\/p>\n

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[C33]<\/strong>\u00a0 Amir Salimi Lafmejani, Hamed Farivarnejad, Azadeh Doroudchi, and Spring Berman.\u00a0\u00a0A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots.<\/strong>\u00a0American Control Conference (ACC)<\/em>, 2020. PDF<\/a><\/strong><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

[C32]<\/strong>\u00a0 Hamed Farivarnejad and Spring Berman.\u00a0Decentralized Collective Transport along Manifolds Compatible with Holonomic Constraints by Robots with Minimal Global Information. <\/strong>\u00a0American Control Conference (ACC)<\/em>, 2020. PDF<\/a><\/strong><\/span><\/p>\n

[C31]\u00a0<\/strong> Hamed Farivarnejad and Spring Berman.\u00a0Decentralized PD Control for Multi-Robot Collective Transport to a Target Location Using Minimal Information.<\/strong>\u00a0 Proceedings of the SPIE Defense + Commercial Sensing Symposium, <\/em>Volume 11425, Unmanned Systems Technology XXII, 1142506, 2020. PDF<\/strong><\/a><\/span><\/p>\n

[C30]<\/strong>\u00a0 Ragesh K. Ramachandran and Spring Berman.\u00a0\u00a0Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength.\u00a0\u00a0<\/strong>SWARM 2019: The 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics,\u00a0<\/em>Okinawa, Japan.\u00a0PDF<\/a><\/strong><\/span><\/p>\n

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[C29]\u00a0\u00a0<\/strong>Shiba Biswal, Karthik Elamvazhuthi, and Spring Berman.\u00a0Fastest Mixing Markov Chain on a Compact Manifold.<\/strong><\/span>\u00a0<\/span>IEEE Conference on Decision and Control (CDC),\u00a0<\/em>Nice, France, 2019.\u00a0\u00a0Outstanding Student Paper Award<\/strong><\/span><\/span>\u00a0 PDF<\/span><\/a><\/strong><\/span><\/span><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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[C28]\u00a0<\/strong> Karthik Elamvazhuthi and Spring Berman.\u00a0Nonlinear Generalizations of Diffusion-Based Coverage by Robotic Swarms.\u00a0<\/strong>IEEE Conference on Decision and Control (CDC),\u00a0<\/em>Miami Beach, FL, 2018.\u00a0PDF<\/a><\/strong><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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[C27]<\/strong>\u00a0 \u00a0Azadeh Doroudchi, Sachin Shivakumar, Rebecca E. Fisher, Hamid Marvi, Daniel Aukes, Ximin He, Spring Berman, and Matthew M. Peet.\u00a0\u00a0Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm.\u00a0<\/strong>\u00a0IEEE Conference on Decision and Control (CDC),\u00a0<\/em>Miami Beach, FL, 2018.\u00a0PDF<\/a><\/strong><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

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[C26]\u00a0\u00a0<\/strong>Karthik Elamvazhuthi, Shiba Biswal, and Spring Berman.\u00a0Mean-Field Stabilization of Robotic Swarms to Probability Distributions with Disconnected Supports.\u00a0<\/strong>American Control Conference (ACC)<\/em>, Milwaukee, WI, 2018.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n

[C25]\u00a0\u00a0<\/strong>Hamed Farivarnejad and Spring Berman.\u00a0Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport.<\/strong>\u00a0American Control Conference (ACC)<\/em>, Milwaukee, WI, 2018.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[C24]\u00a0\u00a0<\/strong>Karthik Elamvazhuthi, Shiba Biswal, Vaibhav Deshmukh, Matthias Kawski, and Spring Berman. Mean-Field Controllability and Decentralized Stabilization of Markov Chains.<\/strong> IEEE<\/em>\u00a0Conference on Decision and Control (CDC)<\/em>, Melbourne, Australia, 2017.\u00a0 PDF<\/a><\/strong><\/span><\/span><\/p>\n

[C23]<\/strong>\u00a0 Karthik Elamvazhuthi, Hendrik Kuiper, and Spring Berman. Controllability to Equilibria of the 1-D Fokker-Planck Equation with Zero-Flux Boundary Condition.<\/strong><\/span>\u00a0<\/strong>IEEE<\/em>\u00a0Conference on Decision and Control (CDC)<\/em>, Melbourne, Australia, 2017.\u00a0 PDF<\/a><\/strong><\/span><\/p>\n

[C22]<\/strong>\u00a0 \u00a0Hanjun Li, Chunhan Feng, Henry Ehrhard, Yijun Shen, Bernardo Cobos, Fangbo Zhang, Karthik Elamvazhuthi, Spring Berman, Matt Haberland, and Andrea L.\u00a0Bertozzi. \u00a0Decentralized Stochastic Control of Robotic Swarm Density: Theory, Simulation, and Experiment.<\/strong> IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, Vancouver, BC, Canada, 2017.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[C21] \u00a0\u00a0<\/strong>Ragesh K. Ramachandran and Spring Berman. \u00a0The Effect of Communication Topology on Scalar Field Estimation by Large Networks with Partially Accessible Measurements.<\/strong> American Control Conference (ACC)<\/em>, Seattle, WA, 2017. \u00a0PDF<\/a><\/strong><\/span><\/p>\n

[C20] \u00a0<\/strong> Ragesh K. Ramachandran, Sean Wilson, and Spring Berman. \u00a0<\/span>A Probabilistic Topological Approach to Feature Identification using a Stochastic Robotic Swarm. \u00a0<\/span><\/strong>International Symposium on Distributed Autonomous Robotic Systems (DARS)<\/em>, London, UK, 2016.\u00a0<\/span>PDF<\/a><\/strong><\/span><\/p>\n

[C19]<\/strong>\u00a0 \u00a0Hamed Farivarnejad, Sean Wilson, and Spring Berman. \u00a0<\/span>Decentralized Sliding Mode Control for Autonomous Collective Transport by Multi-Robot Systems. \u00a0<\/span><\/strong>IEEE Conference on Decision and Control (CDC)<\/i>, Las Vegas, NV, 2016. <\/span>PDF<\/a><\/strong><\/span><\/p>\n

[C18]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Chase Adams, and Spring Berman. \u00a0Coverage and Field Estimation on Bounded Domains by Diffusive Swarms.\u00a0<\/strong>\u00a0IEEE Conference on Decision and Control (CDC)<\/i>, Las Vegas, NV, 2016.\u00a0\u00a0PDF<\/a><\/strong><\/span><\/p>\n

[C17]<\/strong>\u00a0 \u00a0Karthik Elamvazhuthi, Sean Wilson, and Spring Berman. \u00a0Confinement Control of Double Integrators using Partially Periodic Leader Trajectories. \u00a0<\/strong>American Control Conference (ACC)<\/i>, Boston, MA, 2016. <\/span><\/span><\/span>\u00a0PDF<\/strong><\/span><\/a><\/p>\n

[C16]<\/strong>\u00a0 \u00a0 Ragesh K. Ramachandran, Karthik Elamvazhuthi, and Spring Berman. \u00a0An\u00a0Optimal Control Approach to Mapping GPS-Denied Environments using a Stochastic Robotic Swarm. \u00a0<\/strong>International Symposium on Robotics Research (ISRR)<\/i>, Sestri Levante, Italy, 2015. \u00a0PDF<\/strong><\/span><\/a><\/span><\/p>\n

[C15]<\/strong> \u00a0\u00a0 Karthik Elamvazhuthi and Spring Berman.\u00a0 Optimal Control of Stochastic Coverage Strategies for Robotic Swarms.\u00a0<\/strong>IEEE International Conference on Robotics and Automation (ICRA)<\/em>, Seattle, WA, 2015.\u00a0[BibTex]<\/a>\u00a0 PDF<\/strong><\/span><\/a><\/span><\/p>\n

[C14]<\/strong> \u00a0\u00a0 Karthik Elamvazhuthi and Spring Berman.\u00a0 Scalable Formation Control of Multi-Robot Chain Networks using a PDE Abstraction.\u00a0 <\/strong>International Symposium on Distributed Autonomous Robotic Systems (DARS)<\/em>, Daejeon, Korea, 2014.\u00a0[BibTex]<\/a> PDF <\/strong><\/span><\/span><\/a><\/span><\/p>\n

[C13]<\/strong> \u00a0\u00a0 Ganesh P. Kumar and Spring Berman.\u00a0\u00a0Statistical Analysis of Stochastic Multi-Robot Boundary Coverage.\u00a0 <\/strong>IEEE International Conference on Robotics and Automation (ICRA)<\/em>, Hong Kong, 2014.\u00a0[BibTex]<\/a>\u00a0 PDF<\/span><\/strong><\/span><\/a>
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[C12]<\/strong> \u00a0 \u00a0Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.\u00a0 An Enzyme-Inspired Approach to Stochastic Allocation of Robotic Swarms Around Boundaries.\u00a0 <\/strong>International Symposium on Robotics Research (ISRR)<\/i>, Singapore, 2013.\u00a0 [BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C11]<\/strong><\/span> \u00a0 \u00a0Ganesh P. Kumar, Aur\u00e9lie Buffin, Theodore P. Pavlic, Stephen Pratt, and Spring Berman.\u00a0 A Stochastic Hybrid System Model of Collective Transport in the Desert Ant Aphaenogaster cockerelli<\/i><\/strong>.\u00a0 International Conference on Hybrid Systems: Computation and Control (HSCC)<\/i>, Philadelphia, PA, 2013.\u00a0[BibTex]<\/a><\/span> PDF<\/strong><\/span><\/a>
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[C10]\u00a0 <\/strong>Karthik Dantu, Spring Berman, Bryan Kate, and Radhika Nagpal.\u00a0 A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle Collectives<\/strong>.\u00a0 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, Vilamoura, Algarve, Portugal, 2012.\u00a0[BibTex]<\/a> PDF<\/strong> <\/span><\/a>
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[C9]\u00a0\u00a0\u00a0 <\/strong>Spring Berman, Radhika Nagpal, and Adam Halasz.\u00a0 Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination<\/strong>.<\/span>\u00a0 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS),<\/em> San Francisco, CA, 2011.\u00a0[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C8]\u00a0\u00a0 \u00a0<\/strong>Spring Berman, Vijay Kumar, and Radhika Nagpal.\u00a0 Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination<\/strong>. \u00a0<\/span>IEEE International Conference on Robotics and Automation (ICRA)<\/em>, Shanghai, China, 2011. [BibTex]<\/a>\u00a0 PDF<\/strong><\/span><\/a>
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[C7]\u00a0\u00a0\u00a0 <\/strong>Spring Berman, Quentin Lindsey, Mahmut Selman Sakar, Vijay Kumar, and Stephen Pratt.\u00a0 Study of Group Food Retrieval by Ants as a Model for Multi-Robot Collective Transport Strategies<\/strong>.\u00a0 Robotics: Science and Systems Conference (RSS)<\/em>, Zaragoza, Spain, 2010. [BibTex]<\/a>\u00a0 PDF<\/strong><\/span><\/a>
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[C6]\u00a0\u00a0\u00a0 <\/strong>Loic Matthey, Spring Berman, and Vijay Kumar.\u00a0 Stochastic Strategies for a Swarm Robotic Assembly System<\/strong>.\u00a0 IEEE International Conference on Robotics and Automation (ICRA)<\/em>, Kobe, Japan, pp. 1953-1958, 2009.\u00a0[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C5]\u00a0\u00a0\u00a0 <\/strong>Spring Berman, Adam Halasz, M. Ani Hsieh, and Vijay Kumar.\u00a0 Navigation-Based Optimization of Stochastic Strategies for Allocating a Robot Swarm Among Multiple Sites<\/strong>. IEEE Conference on Decision and Control (CDC)<\/em>, Cancun, Mexico, pp. 4376-4381, 2008. [BibTex]<\/a>\u00a0 PDF<\/strong><\/span><\/a>
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[C4]\u00a0\u00a0 <\/strong>Adam Halasz, M. Ani Hsieh, Spring Berman, and Vijay Kumar.\u00a0 Dynamic Redistribution of a Swarm of Robots Among Multiple Sites<\/strong>. \u00a0IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, San Diego, CA, pp. 2320-2325, 2007. [BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C3]\u00a0\u00a0 <\/strong>Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt.\u00a0 Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations<\/strong>. \u00a0IEEE International Conference on Robotics and Automation (ICRA)<\/em>, Rome, Italy, pp. 2318-2323, 2007.\u00a0[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C2]\u00a0\u00a0 <\/strong>Spring Berman, Adam Halasz, and Vijay Kumar.\u00a0 MARCO: A Reachability Algorithm for Multi-Affine Systems with Applications to Biological Systems<\/strong>. \u00a0International Conference on Hybrid Systems: Computation and Control (HSCC)<\/em>. LNCS 4416, eds. A. Bemporad, A. Bicchi, G. Buttazzo, pp. 76-89, 2007.\u00a0[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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[C1]\u00a0 \u00a0<\/strong>Spring Berman, Adam Halasz, Vijay Kumar, and Stephen Pratt.\u00a0 Algorithms for the Analysis and Synthesis of a Bio-Inspired Swarm Robotic System<\/strong>.\u00a0 International Conference on the Simulation of Adaptive Behavior (SAB’06)<\/em>. LNCS 4433, eds. E. Sahin, W. Spears, A. Winfield, pp. 56-70, 2007.\u00a0[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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Invited Conference Papers<\/span><\/h2>\n

[IC1]\u00a0\u00a0 <\/strong>Spring Berman and Vijay Kumar.\u00a0 Abstractions and Algorithms for Assembly Tasks with Large Numbers of Robots and Parts<\/strong>. \u00a0IEEE Conference on Automation Science and Engineering (CASE)<\/em>, Bangalore, India, 2009.\u00a0<\/strong>[BibTex]<\/a> PDF<\/strong><\/span><\/a>
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Refereed Abstracts<\/span><\/h2>\n

[A6]<\/strong>\u00a0 Sangeet Sankaramangalam Ulhas, Aditya Ravichander, Kathryn A. Johnson, Theodore P. Pavlic, Lance Gharavi, and Spring Berman. CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reflection on Autonomous Vehicles, Human-Robot Interaction, and Sociotechnical Imaginaries. <\/strong>Workshop on Miniature Robot Platforms for Full Scale Autonomous Vehicle Research,<\/em> IROS 2022: IEEE\/RSJ International Conference on Intelligent Robots and Systems,\u00a0<\/em>2022.\u00a0 PDF<\/strong><\/a><\/span><\/p>\n

[A5]\u00a0 \u00a0<\/strong>Ragesh Kumar Ramachandran and Spring Berman.\u00a0\u00a0<\/strong>Post Processing of Occupancy Grid Maps using Persistent Homology.\u00a0\u00a0<\/strong>Workshop on Topological Methods in Robot Planning, ICRA 2019:\u00a0International Conference on Robotics and Automation<\/em><\/em>,\u00a0<\/em>Montreal, Canada, 2019.\u00a0 Poster<\/a><\/strong><\/span><\/span><\/p>\n

[A4]\u00a0<\/strong> \u00a0Ragesh Kumar Ramachandran and Spring Berman.\u00a0 Topological Mapping Using a Heterogeneous Robotic Swarm<\/strong>.\u00a0 Workshop on Emerging Topological Techniques in Robotics, ICRA 2016: International Conference on Robotics and Automation<\/em><\/em>, Stockholm, Sweden, 2016. \u00a0Poster<\/a><\/strong><\/span><\/span><\/p>\n

[A3]\u00a0\u00a0 <\/strong>Sean Wilson, Ruben Gameros, and Spring Berman.\u00a0 Pheeno, A Versatile Swarm Robotic Research and Education Platform<\/strong>.\u00a0 Workshop on Embodied Sensorimotor Interaction: From Locomotion to Collective Behavior, SWARM 2015: The First International Symposium on Swarm Behavior and Bio-Inspired Robotics<\/em>, Kyoto, Japan, 2015. \u00a0\u00a0 <\/strong><\/span><\/p>\n

[A2]\u00a0\u00a0 <\/strong>Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, Stephen C. Pratt, and Spring Berman.\u00a0 Enzyme-Inspired Stochastic Algorithm Implementations for Multi-Robot Teams that Approximate Robust Social-Insect Behaviors<\/strong>.\u00a0 3rd Workshop on Biological Distributed Algorithms <\/em>(BDA)<\/em>, Cambridge, MA, 2015. \u00a0\u00a0 <\/strong><\/span><\/p>\n

[A1]\u00a0\u00a0 <\/strong>Theodore P. Pavlic, Sean Wilson, Ganesh P. Kumar, and Spring Berman.\u00a0 Design of Stochastic Policies for Synchronous Collective Transport of Multiple Payloads by Robotic Swarms<\/strong>.\u00a0 Collective Behaviours and Social Dynamics Workshop at the European Conference on Artificial Life <\/em>(ECAL)<\/em>, Taormina, Italy, 2013. \u00a0\u00a0 <\/strong><\/span><\/p>\n

Technical Reports<\/span><\/h2>\n

[Tech1] \u00a0 <\/strong>Spring Berman (supervised by Joshua Graver).\u00a0Comparison of the Lift, Drag, and Pitch Moment Coefficients of a Slocum Glider Wind Tunnel Model with Computational Results by Vehicle Control Technologies, Inc.<\/strong>. \u00a0MAE 222 Final Project<\/em>, Princeton University, May 2003. \u00a0PDF<\/strong><\/span><\/a><\/span><\/p>\n

Ph.D. Theses<\/span><\/h2>\n

[T12]<\/strong> Shenbagaraj Kannapiran. Robust Camera Pose Estimation for Mobile Robots with Applications to Non-Line-of-Sight Tracking.<\/strong>\u00a0Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2025. Link<\/a><\/strong><\/span><\/p>\n

[T11]<\/strong> Rakshith Subramanyam.\u00a0Robust and Reliable Deep Learning by Synergizing with Pre-Trained Models.<\/strong>\u00a0Ph.D. thesis,\u00a0<\/em>Electrical Engineering, Arizona State University, 2024.\u00a0Link<\/a><\/strong><\/span><\/p>\n

[T10] <\/strong>Amir Salimi Lafmejani. Decentralized Motion Planning for Autonomous Multi-Agent Systems: Multi-Segment Manipulators and Mobile Robot Collectives.<\/strong>\u00a0Ph.D. thesis,<\/em> Electrical Engineering, Arizona State University, 2022. Link<\/strong><\/a><\/span><\/p>\n

[T9]\u00a0 \u00a0<\/strong>Azadeh Doroudchi.\u00a0Dynamic Modeling and Control of Octopus-Inspired Soft Continuum Robots with Distributed Sensing and Actuation.<\/strong>\u00a0Ph.D. thesis,<\/em> Electrical Engineering, Arizona State University, 2022.\u00a0Link<\/a><\/strong><\/span><\/p>\n

[T8]\u00a0 \u00a0<\/strong>Aniket Shirsat.\u00a0Swarm Robotic Consensus Strategies for Multi-Target Tracking and Feature Reconstruction.<\/strong>\u00a0Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2022. Link<\/strong><\/a><\/span><\/p>\n

[T7]\u00a0 \u00a0<\/strong>Zahi Kakish.\u00a0Robotic Swarm Control Using Deep Reinforcement Learning Strategies Based on Mean-Field Models.<\/strong> Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2021. Link<\/strong><\/a><\/span><\/p>\n

[T6]\u00a0 \u00a0<\/strong>Hamed Farivarnejad.\u00a0Decentralized Control of Collective Transport by Multi-Robot Systems with Minimal Information.<\/strong>\u00a0Ph.D. thesis<\/em>, Mechanical Engineering, Arizona State University, 2020.\u00a0Link<\/a><\/strong><\/span><\/p>\n

[T5]\u00a0 \u00a0<\/strong>Shiba Biswal.\u00a0Self-Organization of Multi-Agent Systems Using Markov Chain Models. <\/strong>Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2020.\u00a0Link<\/a><\/strong><\/span><\/p>\n

[T4]\u00a0 \u00a0<\/strong>Karthik Elamvazhuthi. Controllability and Stabilization of Kolmogorov Forward Equations for Robotic Swarms. <\/strong>Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2019.\u00a0\u00a0Link<\/a><\/strong><\/span><\/p>\n

[T3]\u00a0 \u00a0<\/strong>Ragesh K. Ramachandran.\u00a0\u00a0Exploration, Mapping and Scalar Field Estimation using a Swarm of Resource-Constrained Robots.\u00a0\u00a0<\/strong>Ph.D. thesis,\u00a0<\/em>Mechanical Engineering, Arizona State University, 2018.\u00a0 Link<\/strong><\/span><\/a><\/span><\/p>\n

[T2]\u00a0<\/strong> \u00a0Sean Wilson. Scalable Control Strategies and a Customizable Swarm Robotic Platform for\u00a0Boundary Coverage and Collective Transport Tasks<\/strong>.\u00a0 Ph.D. thesis<\/em>, Mechanical Engineering, Arizona State University, 2017.\u00a0 Link<\/strong><\/a><\/span><\/p>\n

[T1] \u00a0 <\/strong>Ganesh P. Kumar. Development and Analysis of Stochastic Boundary Coverage Strategies for Multi-Robot Systems<\/strong>.\u00a0 Ph.D. thesis<\/em>, Computer Science, Arizona State University, 2016.\u00a0 Link<\/a><\/strong><\/span><\/p>\n

[T0]\u00a0\u00a0 <\/strong>Spring Berman. Abstractions, Analysis Techniques, and Synthesis of Scalable Control Strategies for Robot Swarms<\/strong>. \u00a0Ph.D. thesis<\/em>, Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, 2010. \u00a0Link<\/span><\/a><\/strong><\/span><\/p>\n<\/div>\n<\/div>\n<\/div>\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

Videos:\u00a0\u00a0ACS Lab Youtube channel Journal Papers [J33]\u00a0 Carlo Sinigaglia, Andrea Manzoni, Francesco Braghin, and Spring Berman. Robust Optimal Density Control of Robotic Swarms. Automatica,\u00a0vol. 176, p. 112218, June 2025. Preprint PDF [J32]\u00a0 Armin Mokhtarian, Jianye Xu, Patrick Scheffe, Maximilian Kloock, Simon Sch\u00e4fer, Heeseung Bang, Viet-Anh Le, Sangeet Ulhas, Johannes Betz, Sean Wilson, Spring Berman, Liam…<\/p>\n","protected":false},"author":30,"featured_media":0,"parent":0,"menu_order":8,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"footnotes":""},"class_list":["post-51","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages\/51","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/users\/30"}],"replies":[{"embeddable":true,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/comments?post=51"}],"version-history":[{"count":0,"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/pages\/51\/revisions"}],"wp:attachment":[{"href":"https:\/\/faculty.engineering.asu.edu\/acs\/wp-json\/wp\/v2\/media?parent=51"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}