Publications

Journal Articles | Book Chapters | Conference Papers | Theses

Journal Articles

  1. A. Prorok, M. A. Hsieh, and V. Kumar. “The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms,” submitted to the IEEE Trans. on Robotics, Under Review. Bibtex | PDF
  2. V. Digani, M. A. Hsieh, L. Sabattini, and C. Secchi. “Coordination of multiple AGVs: a Quadratic Optimization Method,” submitted to Trans. on Automation Science and Engineering (T-ASE), Under Review. Bibtex | PDF
  3. H. Hajieghrary, M. A. Hsieh, and I. B. Schwartz. “Multi-Agent Search for Source Localization in a Turbulent Medium,” in Physics Letters A, Vol. 380, No. 20, Apr 2016, pp. 1698 – 1705. Bibtex | PDF
  4. K. Szwaykowska, I. B. Schwartz, L. Mier-y-Teran Romero, C. R. Heckman, D. C. Mox, and M. A. Hsieh. “Collective motion patterns of swarms with delay coupling: Theory and experiment,” in Physical Review E, Vol. 93, No. 3, Mar 2016. Bibtex | PDF
  5. H. Hajieghrary and M. Ani Hsieh. “Dynamic Adaptive Robust Backstepping Control Design for an Uncertain Linear System,” accepted to the ASME Journal of Dynamic Systems, Measurement and Control: Special Issue on Stochastic Models, Control, and Algorithms in Robotics. Bibtex | PDF
  6. C. Heckman, M. A. Hsieh, and I. B. Schwartz. “Toward Efficient Navigation in Uncertain Gyre-Like Flows,” in International Journal of Robotics Research: Special Issue on ISER 2014, Jul 2015. Bibtex | PDF
  7. C. Heckman, M. A. Hsieh, and I. B. Schwartz. “Going with the flow: enhancing stochastic switching rates in multi-gyre systems,” in ASME Journal of Dynamic Systems, Measurement and Control: Special Issue on Stochastic Models, Control, and Algorithms in Robotics, Vol. 137, Mar 2015. Bibtex | PDF
  8. M. Michini, M. Ani Hsieh, E. Forgoston, and I. B. Schwartz. “Robotic Tracking of Coherent Structures in Flows,” in the IEEE Trans. on Robotics, Vol. 30, No. 3, 593-603, Jun 2014. Bibtex | PDF
  9. T. W. Mather and M. A. Hsieh. “Synthesis and Analysis of Distributed Ensemble Control Strategies for Allocation to Multiple Tasks,” in Robotica: Special Issue on DARS 2012, Vol. 32, 2, 2014. Bibtex | PDF
  10. J. Worcester, M. A. Hsieh, and R. Lakaemper. “Distributed Assembly with Online Workload Balancing and Visual Error Detection and Correction,” in the Int. Journal of Robotics Research: Special Issue on ISER 2012 Conference, 2014. Bibtex | PDF
  11. K. Mallory, M. A. Hsieh, E. Forgoston, and I. B. Schwartz. “Distributed Allocation of Mobile Sensing Swarms in Gyre Flows,” in Nonlin. Processes Geophys., Vol. 20, No. 5, 657-668, 2013. Bibtex | PDF
  12. T. W. Mather and M. A. Hsieh. “Macroscopic Modeling of Stochastic Deployment Policies with Time Delays for Robot Ensembles,” in the Int. Journal of Robotics Research: Special Issue on Stochasticity in Robotics & Biological Systems, Part 1, 1 Apr 2011, Vol. 30, No. 5. Bibtex | PDF
  13. S. Berman, A. Halasz, M. A.Hsieh, and V. Kumar. “Optimal Stochastic Policies for Task Allocation in Swarms of Robots,” in the Trans. on Robotics, Vol 25, Issue 4, IEEE Transactions on Robotics, pp. 927-937, 2009. Bibtex | PDF
  14. J. Derenick, J. Spletzer and M. A. Hsieh. “An Optimal Approach to Collaborative Target Tracking with Performance Guarantees,” in the Journal of Intelligent and Robotic Systems, Vol 56, No. 1-2, pp 47-67. Bibtex | PDF
  15. M. A. Hsieh, A. Halasz, S. Berman, and V. Kumar. “Biologically Inspired Redistribution of a Swarm of Robots Among Multiple Sites,” in Swarm Intelligence, Vol. 2, No. 2-4, Dec 2008, pp 121-141. Bibtex | PDF
  16. M. A. Hsieh, V. Kumar and L. Chaimowicz. “Decentralized Controllers for Shape Generation with Robotic Swarms,” in Robotica, Vol. 26, Issue 5, Sep 2008, pp 691-701. Bibtex | PDF
  17. M. A. Hsieh, A. Cowley, V. Kumar and C.J. Taylor. “Maintaining Network Connectivity and Performance in Robot Teams,” in the Journal of Field Robotics, Vol. 26, Issue 1-2, Jan 2008, pp 111-131. Bibtex | PDF
  18. M. A. Hsieh, L. Chaimowicz, A. Cowley, B. Grocholsky, J. F. Keller, V. Kumar, C. J. Taylor, Y. Endo, R. C. Arkin, B. Jung, D. F. Wolf, G. Sukhatme, and D. C. MacKenzie. “Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness,” in the Journal of Field Robotics, Vol. 24, Issue 11-12, Nov 2007, pp 991-1014. Bibtex | PDF

Book Chapters

  1. M. A. Hsieh and T. W. Mather. “Robustness in the Presence of Task Differentiation in Robot Ensembles,” in Redundancy in Robot Manipulators and Multi-Robot Systems, eds. D. Milutinovic and J. Rosen, Springer Berlin Heidelberg 2013.
  2. S. Berman, A. Halasz, and M. A. Hsieh. “Ant-Inspired Allocation: Top-Down Controller Design for Distributing a Robot Swarm Among Multiple Tasks,” in Bio-inspired Computing and Communication Networks, eds. Y. Xiao and F. Hu, Auerbach Publications, CRC Press 2008.

Refereed Conference Papers

  1. Daniel Mox, Anthony Cowley, M. Ani Hsieh, and C. J. Taylor. “Information Based Exploration with Panoramas and Angle Occupancy Grids,” in the Proc. of the International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), Nov 2016, London, UK. BibTeX | PDF
  2. M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Eric Forgoston, Ira B. Schwartz, and Philip A. Yecko. “Small and Adrift with Self-Control: Using the Environment to Improve Autonomy,” accepted to the 2015 International Symposium on Robotics Research (ISRR), September 2015, Sestri Levante, Italy. BibTeX | PDF
  3. V. Digani, M. A. Hsieh, L. Sabattini, and C. Secchi. “A Quadratic Programming Framework for Coordinating Multi-AGV Systems,” accepted to the IEEE International Conference on Automation Science and Engineering (CASE2015), Aug 2015, Gothenburg, Sweden. BibTeX | PDF
  4. D. Kularatne and M. A. Hsieh. “Tracking Attracting Lagrangian Coherent Structures in Flows,” in the 2015 Robotics: Science and Systems (RSS 2015), July 2015, Rome, Italy. BibTeX | PDF
  5. D. Kularatne, R. N. Smith, and M. A. Hsieh. “Zig-Zag Wanderer: Towards Adaptive Tracking of Time-Varying Coherent Structures in the Ocean,” in the IEEE International Conference on Robotics and Automation
    (ICRA2015)
    , May 2015, Seattle, WA USA. BibTeX | PDF
  6. M. Michini, M. A. Hsieh, E. Forgoston, and I. B. Schwartz, “Experimental Validation of Robotic Manifold Tracking in Gyre-Like Flows,” in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’14), Sep 2014, Chicago, IL USA. BibTeX | PDF
  7. D. Larkin, M. Michini, A. Abad, S. Teleski, and M. A. Hsieh, “Design of the multi-robot Coherent Structure Testbed (mCoSTe) for Distributed Tracking of Geophysical Fluid Dynamics,” in the ASME International Design Engineering Technical Conferences (IDETC), Aug 2014, Buffalo, New York USA. BibTeX | PDF
  8. M. Michini, H. Rastgoftar, M. A. Hsieh, and S. Jayasuriya, “Distributed Formation Control for Collaborative Tracking of Manifolds in Flows,” in the 2014 American Control Conference (ACC 2014), Jun 2014, Portland, Oregon USA. BibTeX | PDF
  9. M. A. Hsieh, K. Mallory, E. Forgoston, and I. B. Schwartz, “Distributed Allocation of Mobile Sensing Agents in Geophysical Flows,” in the 2014 American Control Conference (ACC 2014), Jun 2014, Portland, Oregon USA. BibTeX | PDF
  10. M. Michini, K. Mallory, D. Larkin, M. A. Hsieh, E. Forgoston, and P. A. Yecko, “An Experimental Testbed for Multi-Robot Tracking of Manifolds and Coherent Structures in Flows,” accepted to the 2013 ASME Dynamic Systems and Control Conference, Oct 2013, Palo Alto, CA USA. BibTeX | PDF
  11. J. Milligan, M. A. Hsieh, and L. Chaimowicz, “Vision-Based Cooperative Localization for Small Networked Robot Teams,” in the Proc. of the 14th Towards Autonomous Robotic Systems (TAROS 2013), Aug 2013, Oxford, UK. BibTeX | PDF
  12. J. Worcester and M. A. Hsieh. “Task Partitioning via Ant Colony Optimization for Distributed Assembly,” in the Proc. of ANTS 2012: 8th Int. Conf. on Swarm Intelligence, Sep 2012, Brussels, Belgium. BibTeX | PDF
  13. T. W. Mather and M. A. Hsieh. “Ensemble Modeling and Control for Congestion Management in Automated Warehouses,” (Finalist, Best Student Paper), in the IEEE Int. Conf. on Automation Science & Engineering (CASE2012), August 2012, Seoul, Korea. BibTeX | PDF
  14. P. Abichandani, K. Mallory, and M. A. Hsieh, “Experimental Multi-Vehicle Path Coordination under Communication
    Connectivity Constraints,” in the Proc. of the 13th International Symposium on Experimental Robotics
    (ISER2012)
    , Jun 2012, Quebec City, Quebec, Canada. BibTeX | PDF
  15. J.Worcester, R. Lakaemper, and M. A. Hsieh, “3-Dimensional Tiling for Distributed Assembly by Robot Teams,”
    in the Proc. of the 13th International Symposium on Experimental Robotics (ISER2012), Jun 2012, Quebec City,
    Quebec, Canada. BibTeX | PDF
  16. M. A. Hsieh, E. Forgoston, T. W. Mather, and I. Schwartz. “Robotic Manifold Tracking of Coherent Structures in Flows,” in the Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA2012), May 2012, St. Paul, MN USA. BibTeX | PDF
  17. T. W. Mather and M. A. Hsieh. “Ensemble Synthesis of Distributed Control and Communication,” in the Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA2012), May 2012, St. Paul, MN USA. BibTeX | PDF
  18. J. Worcester, J. Rogoff, and M. A. Hsieh. “Constrained Task Partitioning for Distributed Assembly,” in the Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’11), Sep 2011, San Francisco, CA USA. BibTeX | PDF
  19. T. W. Mather and M. A. Hsieh. “Distributed Robot Ensemble Control for Deployment to Multiple Sites,” in the Proc. of the 2011 Robotics: Science and Systems Conference, Jun-Jul 2011, Los Angeles, CA USA. BibTeX | PDF
  20. T. W. Mather, C. Braun, and M. A. Hsieh. “Distributed Filtering for Time-Delayed Deployment to Multiple Sites,” in the Proc. of the 10th Int. Symposium on Distributed Autonomous Robotics Systems , Nov 2010, Lausanne, Switzerland. BibTeX | PDF
  21. M. A. Hsieh and J. Rogoff. “Complexity Measures for Distributed Assembly Tasks,” in the Proc. of the 2010 Performance Metrics for Intelligent Systems Workshop (PerMIS’09), Baltimore, MD USA, Sep 2010. BibTeX | PDF
  22. T. W. Mather, M. A. Hsieh, and E. Frazzoli. “Towards Dynamic Team Formulation for Robot Ensembles,” in the Proc. of the 2010 IEEE Int. Conf. on Robotics & Automation (ICRA’09), Anchorage, AK USA, May 2010. BibTeX | PDF
  23. A. Cowley, M. A. Hsieh, and C. J. Taylor. “Development of Top-Down Analysis of Distributed Assembly Tasks,” in the Proc. of the 2009 Performance Metrics for Intelligent Systems Workshop (PerMIS’09), Washington, DC, USA, Sep 2009. BibTeX | PDF
  24. M. A. Hsieh, A. Halasz, E. D. Cubuk, S. Schoenholz, and A. Martinoli. “Specialization as an Optimal Strategy Under Varying External Conditions,” in the Proc. of the 2009 IEEE Int. Conf. on Robotics & Automation (ICRA’09), Kobe, Japan, May 2009. BibTeX | PDF
  25. S. Berman, A. Halasz, M. A. Hsieh, and V. Kumar. “Navigation-Based Optimization of Stochastic Deployment Strategies for a Robot Swarm to Multiple Sites,” in the Proc. of the 2008 IEEE Conf. on Decision & Control (CDC’08), Cancun, Mexico. BibTeX | PDF
  26. J. Fink, M. A. Hsieh, and V. Kumar. “Multi-Robot Manipulation via Caging in Environments with Obstacles,” in the Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA’08), Pasedena, CA USA, May 2008. BibTeX | PDF
  27. J. Derenick, J. Spletzer and M. A. Hsieh. “A Graph Theoretic Approach to Optimal Target Tracking for Mobile Robot Teams,” in the Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (IROS’07), San Diego, CA USA, Oct 2007. BibTeX | PDF
  28. A. Halasz, M. A. Hsieh, S. Berman, and V. Kumar. “Dynamic Redistribution of a Swarm of Robots Among Multiple Sites,” in the Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (IROS’07), San Diego, CA USA, Oct 2007. BibTeX | PDF
  29. M. A. Hsieh, S. Loizou and V. Kumar. “Stabilization of Multiple Robots on Stable Orbits via Local Sensing,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’07), Rome, Italy, May 2007. BibTeX | PDF
  30. M. A. Hsieh and V. Kumar. “Pattern Generation with Multiple Robots,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’06), Orlando, FL USA, May 2006. BibTeX | PDF
  31. M. A. Hsieh, A. Cowley, V. Kumar, and C.J. Taylor. “Towards the Deployment of a Mobile Robot Network with End-to-End Performance Guarantees,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’06), Orlando, FL USA, May 2006. BibTeX | PDF
  32. L. Chaimowicz, A. Cowley, D. Gomez-Ibanez, B. Grocholsky, M. A. Hsieh, H. Hsu, J. F. Keller, V. Kumar, R. Swaminathan, and C. J. Taylor. “Deploying Air-Ground Multi-Robot Teams in Urban Environments,” in the Proc. of the 2005 Int. Workshop on Multi-Robot Systems, pp. 223-234, Washington, DC USA, Mar 2005. BibTeX | PDF
  33. M. A. Hsieh, P. Srivastava, V. Kumar and C.J. Taylor. “Composable Communication Constraint Based Control,” in the Proc. SPIE Optics East 2004, Philadelphia, PA USA, Oct 2004. BibTeX | PDF available upon request.
  34. M. A. Hsieh, V. Kumar and C.J. Taylor. “Constructing Radio Signal Strength Maps with Multiple Robots,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’04), pp. 4184-4189, New Orleans, LA USA, Apr 2004. BibTeX | PDF

Theses

  1. M. Ani Hsieh, Motion Control Strategies for Networked Robot Teams in Environments with Obstacles, 2007.