Publications

2017

P.J. Cruz and R. Fierro, “Cable-suspended load lifting by a quadrotor UAV: hybrid model, trajectory generation, and control," Autonomous Robots, pp. 1-15, April 20, 2017. 

2017

Z. Miao, Y. Wang, and R. Fierro, “Cooperative circumnavigation of a moving target with multiple nonholonomic robots using backstepping design," Systems & Control Letters, 2017. (In press)

2016

P. J. Cruz, B. M. Sadler, and R. Fierro, "Sensor Localization Using Hybrid RF/Optical Wireless Communications for an Aerial Data Mule", American Control Conference (ACC), Boston, MA, July 6-8, 2016. (Accepted)

Z. Miao, Y. Wang, and R. Fierro, “Collision-free consensus in multi-agent networks: A monotone systems perspective,” Automatica, vol. 64, pp. 217-225, 2016. 

2015

P. Cruz and R. Fierro, “Building coalitions of heterogeneous agents using weighted bipartite graphs,” The 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, December 15-18, 2015, pp. 2822-2828.

Z. Miao, Y. Wang, and R. Fierro, “Collision-free consensus via order preservation in multi-agent networks,” The 54th IEEE Conference on Decision and Control (CDC), Osaka, Japan, December 15-18, 2015, pp. 2999-3005.

Z. Miao, Y. Wang, D. Thakur, and R. Fierro, “Circumnavigation of a moving target in 3D by multi-agent systems with collision avoidance: An orthogonal vector field-based approach,” IEEE Trans. on Cybernetics, November 2015. (Submitted)

D. Tolic, R. Sanfelice, and R. Fierro, “Input-output triggered control using Lp-stability over finite horizons,” Int. Journal of Robust and Nonlinear Control (IJRNC), vol. 25, no. 14, pp. 2299-2327, September 2015. 

P. Cruz, C. Abdallah, and R. Fierro, “Cooperative learning for robust connectivity in multi-robot heterogeneous networks,” in Control of Complex Systems: Theory and Applications, K. Vamvoudakis and J. Sarangapani (eds.), Elseiver, August 2015. (To appear)

P. Cruz, M. Oishi, and R. Fierro, “Lift of a Cable-suspended Load by a Quadrotor: A Hybrid System Approach," American Control Conference (ACC), Chicago, IL, July 1-3, 2015. pp. 1887-1892. (Accepted)

P. Cruz, and R. Fierro, “Towards Optical Wireless Communications between Micro Unmanned Aerial and Ground Systems,” International Conference in Unmanned Aircraft Systems (ICUAS), Denver, CO, June 9-12, 2015, (Accepted).

P. Cruz, R. Fierro, and B.M. Sadler “Enabling Optical Wireless Communication Between Aerial and Ground Robots,” IEEE International Conference on Robotics and Automation (ICRA), Late Breaking Results Poster Session, Seattle, WA, May 26-30, 2015, (Accepted).

Z. Miao, Y. Wang, and R. Fierro, “Connectivity maintenance in distributed formation control of multi-agent networks with double-integrator dynamics,” IEEE Trans. on Control of Network Systems, May 2015. (Submitted)

N. Bezzo, J. P. Hecker, K. Stolleis, M. E. Moses, and R. Fierro, “Exploiting heterogeneous robotic systems in cooperative missions,” arXiv preprint, 2015.

2014

A. Faust, I. Palunko, P. Cruz, R. Fierro, and L. Tapia, “Automated aerial suspended cargo delivery through reinforcement learning,” Artificial Intelligence, Available online 19 December 2014. (Article in Press)

P. Cruz, and R. Fierro, “Autonomous Lift of a Cable-suspended Load by an Unmanned Aerial Robot," IEEE Conference on Control Applications (CCA), Antibes, France, Oct 8-10, 2014, pp.802-807.

L. Valbuena, P. Cruz, R. Figueroa, F. Sorrentino, and R. Fierro, “Stable formation of groups of robots via synchronization,” IEEE/RJS Int. Conf. on Intelligent Robots and Systems IROS, Chicago, IL, Sep 14-18, 2014, pp.376-381. RoboHub Video

A. Faust, P. Ruymgaart, M. Salman, R. Fierro, and L. Tapia, “Continuous action reinforcement learning for control-affine systems with unknown dynamics,” IEEE/CAA Journal of Automatica Sinica, Special issue on Extensions of Reinforcement Learning and Adaptive Control, F. Lewis et al. (eds.), vol.1, no.3, pp.323,336, July 2014.

R. Figueroa, A. Faust, P. Cruz, L. Tapia, and R. Fierro, “Reinforcement learning for balancing a flying inverted pendulum,” The 11th World Congress on Intelligent Control and Automation WCICA, Shenyang, China, June 29-July 4, 2014.

P. Cruz, L Valbuena, and R. Fierro, “Synchronization of Heterogeneous Wireless Robotic Networks,” The 2nd Annual Workshop on Wireless Intelligent Sensor Networks WISeNET, Durham, NC, June 9-10, 2014.

N. Bezzo, F. Sorrentino, P. Cruz, and R. Fierro, “Decentralized identification and control of networks of coupled mobile platforms through adaptive synchronization of chaos,” Physica D: Nonlinear Phenomena, Special Issue on Evolving Dynamical Networks, Igor Belykh et al., (eds.), vol. 267, pp. 94-103, January 2014.

D. Tolic, R. Sanfelice, and R. Fierro, “Input-output triggered control via the small-gain theorem and switched systems modeling,” Int. Journal of Robust and Nonlinear Control (IJRNC), 2014. (On-line available)

N. Bezzo, M. Anderson, R. Fierro, and J. Wood, “A real world coordination framework for connected heterogeneous robotic systems,” Distributed Autonomous Robotics Systems, Springer Tracks in Advanced Robotics (A. Hsieh and G. Chirikjian eds.), vol. 104, pp. 75-89, 2014.

N. Bezzo, B. Griffin, P. Cruz, J. Donahue, R. Fierro, and J. Wood, “A Cooperative Heterogeneous Mobile Wireless Mechatronic System,” IEEE/ASME Transactions on Mechatronics, vol. 19, no. 1, pp. 20-31, 2014.

W. Lu, G. Zhang, S. Ferrari, M. Anderson and R. Fierro, “A particle-filter information potential method for tracking and monitoring maneuvering targets using a mobile sensor agent,” Journal of Defense Modeling & Simulation JDMS, vol. 11, no.1, pp. 47-58, 2014.

2013

 

F. Sorrentino, D. Tolic, R. Fierro, S. Picozzi, J. R. Gordon, and A. Mammoli, “Stability analysis of a model for the market dynamics of a smart grid,” IEEE Conference on Decision and Control CDC, Invited Session on Smart Grid: Market and communication mechanisms, Florence, Italy, December 10-13, 2013. Invited paper, pp. 4965-4970.

J. M. Luna, R. Fierro, C. T. Abdallah, and J. Wood, “An adaptive coverage control for deployment of nonholonomic mobile sensor networks over time-varying sensory functions,” Asian Journal of Control, vol. 15, no. 4, pp. 988-1000, July 2013. Published online 20 November 2012. 

D. Tolic and R. Fierro, “Decentralized output synchronization of heterogeneous linear systems with intermittent communication and switching topology,” American Control Conference ACC, Washington DC, June 17-19, 2013, pp. 4655-4660.

N. Bezzo, F. Sorrentino, and R. Fierro, “Decentralized estimation of topology changes in wireless robotic networks,” American Control Conference ACC, Washington DC, June 17-19, 2013, pp. 5919-5924.

J. M. Luna, R. Fierro, C. T. Abdallah, and F. Lewis, “On the compression of locational and environmental data in multi-vehicle missions,” International Journal of Control, Special Issue on Periodic Systems and Robust Control, vol. 86, no. 7, pp. 1281-1291, June 2013.

A. Faust, I. Palunko, P. Cruz, R. Fierro, and L. Tapia, “Learning swing-free trajectories for UAVs with a suspended load,” IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, May 6 - 10, 2013, pp. 4887-4894.

I. Palunko, A. Faust, P. Cruz, L. Tapia, and R. Fierro, “A reinforcement learning approach to suspended load manipulation with aerial robots,” IEEE International Conference on Robotics and Automation ICRA, Karlsruhe, Germany, May 6 - 10, 2013, pp. 4881-4886.

A. Faust, I. Palunko, P. Cruz, R. Fierro, and L. Tapia, “Learning Swing-free Trajectories for UAVs with a Suspended Load in Obstacle-free Environments,” Autonomous Learning Workshop at IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 2013.

P. Cruz, R. Fierro, W. Lui, and S. Ferrari, “Maintaining robust connectivity in heterogeneous robotic networks,” SPIE Defense, Security and Sensing Conference, Unmanned Systems Technology XV, Baltimore, MD, April 29 - May 3, 2013. CD Proceedings.

T. Appel, R. Fierro, B. Rohrer, R. Lumia, and J. Wood, “A learning strategy for source tracking in unstructured environments,” in Reinforcement Learning and Approximate Dynamic Programming for Feedback Control, F. Lewis and D. Liu (eds.), IEEE Press/Wiley, Chapter 26, pp. 582-600, 2013.

N. Bezzo, A. Cortez, and R. Fierro, “Exploiting heterogeneity in robotic networks," in Redundancy in Robot Manipulators and Multi-Robot Systems, D. Milutinovic and J. Rosen (eds.), Lecture Notes in Electrical Engineering, Springer, vol. 57, pp. 53-75, 2013. 

A. Cortez, R. Fierro, and J. Wood, “Connectivity maintenance of a heterogeneous sensor network,” A. Martinoli et al., (eds.) Distributed Autonomous Robotics Systems, Springer Tracts in Advanced Robotics, STAR 83, pp. 33-46, 2013.

A. Cortez, R. Fierro, and J. Wood, “Mobile Heterogeneous Sensor Network for Prioritized Sensing,” Journal of Communications, Special Issue on Mobile Sensor Networks & Applications, vol. 8, no. 1, pp. 16-31, 2013. 

A. Faust, I. Palunko, P. Cruz, R. Fierro, and L. Tapia, “Reinforcement learning for suspended load aerial cargo delivery,” Special Issue of the Artificial Intelligence Journal on AI and Robotics, A. Saffiotti, K. Rajan, and M. Veloso (eds.), 2013. (Accepted)

W. Lu, G. Zhang, S. Ferrari, M. Anderson and R. Fierro, “An information potential approach for tracking and surveilling multiple moving targets using mobile sensor agents,” Journal of Defense Modeling & Simulation JDMS, Special Issue on Intelligent Behaviors in Military Unmanned Systems, 2013. (To appear)

 

2012

J. M. Luna, R. Fierro, C. T. Abdallah, and F. Lewis, “A binary consensus approach to decentralized coordination of nonholonomic sensor networks,” IEEE Conf. on Decision and Control CDC, Maui, Hawaii, December 10-13, 2012. (To appear)

N. Bezzo, M. Anderson, R. Fierro, and J. Wood, “Toward Realistic Coordination of Connected Heterogeneous Robotic Systems”, 11th International Symposium on Distributed Autonomous Robotics Systems DARS, Baltimore, MD, Nov. 8-11, 2012. (To appear)

D. Tolic, R. Fierro, and S. Ferrari, “Optimal self-triggering for nonlinear systems via approximate dynamic programming,” IEEE Multi-Conference on Systems and Control MSC, Dubrovnik, Croatia, October 3-5, 2012. (To appear)

M. Khater, R. Fierro, A. Espinoza, and J. Crandall, “A hybrid system approach to model dynamic information flow tracking”, 7th International Workshop on Feedback Computing, San Jose, CA, Sep. 17, 2012. (Accepted as poster)

D. Tolic, R. Sanfelice, and R. Fierro, “Self-Triggering in Nonlinear Systems: A Small-gain theorem approach,” 20th Mediterranean Conference on Control & Automation (MED), Barcelona, Spain, July 3-6, 2012, pp. 935-941.

D. Tolic, R. Sanfelice, and R. Fierro, “Input-output triggered control via the small-gain theorem and switched systems modeling” Int. Journal of Robust and NonlinearControl (IJRNC), July 2012. (Submitted)

I. Palunko, R. Fierro, and D. Cruz, “Trajectory generation for swing-free maneuvers of a quadrotor with suspended payload: A dynamic programming approach,” IEEE International Conference on Robotics and Automation ICRA’12, St. Paul, MN, May 14-18, 2012, pp. 2691-2697.

W. Lu, S. Ferrari, R. Fierro, and T. Wettergren, “Approximate dynamic programming recurrence relations for a hybrid optimal control problem,” SPIE Defense, Security and Sensing Conference,Unmanned Systems Technology XIV,Baltimore, MD, April 25-29, 2012.

A. Cortez, R. Fierro, and J. Wood, “Heterogeneous Sensor Network for Prioritized Sensing,” Journal of Communications, Special Issue on Mobile Sensor Networks & Applications, 2012. (To appear)

5. R. A. Cortez, D. Tolic, I. Palunko, N. Eskandari, M. Oishi, R. Fierro, and J. Wood, “A hybrid framework for prioritized search and adaptive tracking of maneuvering targets using cooperative UAVs,” in Advances in Intelligent and Autonomous Aerospace Systems, Progress in Aeronautics & Astronautics Series, J. Valasek (ed.), AIAA, chapter 12, vol. 241, pp. 445-468, 2012. DOI: 10.2514/5.9781600868962.0445.0468

W. Lu, G. Zhang, S. Ferrari, M. Anderson and R. Fierro, “An information potential approach for tracking and surveilling multiple moving targets using mobile sensor agents,” Journal of Defense Modeling & Simulation JDMS, Special Issue on Intelligent Behaviors in Military Unmanned Systems, 2012. (To appear)

D. Miklic, S. Bogdan, R. Fierro, and Y. Song, “A grid-based approach for formation reconfiguration with robots with nonholonomic constraints,” European Journal of Control, vol. 18, no.2, 2012.

D. Miklic, S. Bogdan and R. Fierro, "AVLib: A Simulink R® library for multi-agent systems research," Control & Automation (MED), 2012 20th Mediterranean Conference on, Barcelona, 2012, pp. 1043-1048. doi: 10.1109/MED.2012.6265776

I. Palunko, P. Cruz, and R. Fierro, “Agile load transportation: Safe and efficient load manipulation with aerial robots,” IEEE Robotics & Automation Magazine, Special Issue on aerial robotics and quadcopters, 2012. (To appear)

2011

S. Ferrari, M. Anderson, R. Fierro, and W. Lu, “Cooperative navigation for heterogeneous autonomous vehicles via approximate dynamic programming”, IEEE Conference on Decision and Control and European Control Conference CDC-ECC, Orlando, FL, December 12-15, 2011.

D. Tolic, and R. Fierro, “Adaptive sampling for tracking in pursuit-evasion games,” IEEE Multi-Conference on Systems and Control MSC, Denver, CO, September 28-30, 2011.

A. Cortez, R. Fierro, J. Wood, and R. Lumia, “Heterogeneous Sensor Network for Prioritized Sensing,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, San Francisco, CA, September 25-30, 2011.

N. Bezzo, Y. Yan, R. Fierro, and Y. Mostofi, “A decentralized connectivity strategy for mobile router swarms,” 18th IFAC World Congress (IFAC WC 2011), Milan, Italy, August 28 – Sep 2, 2011.

I. Palunko and R. Fierro, "Adaptive Control of a Quadrotor with Dynamic Changes in the Center of Gravity," 18th IFAC World Congress (IFAC WC 2011), Milan, Italy, August 28 – Sep 2, 2011, vol. 18, no. 1, pp. 2626-2631.

N. Bezzo and R. Fierro, “Swarming of Mobile Router Networks,” American Control Conference ACC, San Francisco, CA, June 29 – July 1, 2011.

D. Tolic and R. Fierro, “Stability of Feedback Linearization under Intermittent Information: A Target-Pursuit Case,” American Control Conference ACC, San Francisco, CA, June 29 – July 1, 2011.

B. Griffin, R. Fierro, and I. Palunko, “An autonomous communications relay in GPS-denied environments via antenna diversity,” Journal of Defense Modeling & Simulation JDMS, Special Issue on Intelligent Behaviors for Tactical Unmanned Systems, vol. 9, no. 1, pp. 33-44, 2012. Published on line: June 16, 2011. doi: 10.1177/1548512911404266

W. Lu, G. Zhang, S. Ferrari,R. Fierro, and I. Palunko, “An information potential approach for tracking and surveilling multiple moving targets using mobile sensor agents,” Proc.SPIE 8045 Defense, Security and Sensing Conference,Unmanned Systems Technology XIII,Orlando, FL, April 27, 2011. 

N. Bezzo and R. Fierro, "Decentralized connectivity and user localization via wireless robotic networks," GLOBECOM Workshops (GC Wkshps), 2011 IEEE, Houston, TX, 2011, pp. 1285-1290. doi: 10.1109/GLOCOMW.2011.6162391

N. Bezzo, R. Fierro, A. Swingler, and S. Ferrari, “A disjunctive programming approach for motion planning of mobile router networks,” International Journal of Robotics & Automation, vol. 26, no. 1, pp. 13-25, 2011.

A. Cortez, R. Fierro, and J. Wood, “Prioritized sensor detection for environmental mapping: Theory and experiments,” Journal of Intelligent and Robotic Systems JINT, vol. 63, pp. 481-501. 2011. DOI 10.1007/s10846-010-9518-4.

 

2010

J. M. Luna, R. Fierro, C. T. Abdallah and J. Wood, "An adaptive coverage control algorithm for deployment of nonholonomic mobile sensors," IEEE Conf. on Decision and Control CDC, Atlanta, GA, December 15-17, 2010, pp. 1250-1256.

R. A. Cortez, R. Fierro, and J. Wood, "Connectivity Maintenance of a Heterogeneous Sensor Network," 10th International Symposium on Distributed Autonomous Robotics Systems DARS, Lausanne, Switzerland, Nov 1-3, 2010. Best Paper Award Finalist

D. Tolic and R. Fierro, "A Comparison of a Curve Fitting Tracking Filter and Conventional Filters under Intermittent Information," EECE-TR;10-0005, October 24, 2010.

N. Bezzo and R. Fierro, "Tethering of mobile router networks," American Control Conference ACC'10, Baltimore, MD, June 30 – July 2, 2010, pp. 6828-6833.

U. Gatti, G. Migliaccio, S. Schneider, and R. Fierro, “Assessing physical strain in construction workforce: A first step for improving safety and productivity management,” Proc. of the 27th International Symposium on Automation and Robotics in Construction (ISARC 2010), Bratislava, Slovakia, June 25-27, 2010, pp. 255-264.

A. Cortez, J. M. Luna, R. Fierro, and J. Wood, "Multi-vehicle testbed for multi-modal decentralized sensing of the environment," IEEE International Conference on Robotics and Automation ICRA'10, Anchorage, Alaska, May 3-8, 2010, pp. 1088-1089.

A. Cortez, J. M. Luna, R. Fierro, and J. Wood, "Multi-vehicle testbed for decentralized environmental sensing," IEEE International Conference on Robotics and Automation ICRA’10, Anchorage, Alaska, May 2010, pp. 3052-3058.

J. M. Luna, R. Fierro, C.T. Abdallah and J. Wood, "Distributed, adaptive algorithm for deployment of nonholonomic sensor networks," IEEE International Conference on Robotics and Automation ICRA'10, Anchorage, Alaska, May 2010.

D. Miklic, S. Bogdan, and R. Fierro, "Decentralized grid-based algorithms for formation reconfiguration and synchronization," IEEE International Conference on Robotics and Automation ICRA'10, Anchorage, Alaska, May 2010, pp. 4463-4468.

B. Griffin, R. Fierro, and I. Palunko, "Control of an indoor autonomous mobile communications relay via antenna diversity," SPIE Proceedings Unmanned Systems Technology XII, Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, (eds.), vol. 76920, Orlando, FL, April 5-9, 2010. DOI: 10.1117/12.849986

 

2009

 

S. Ferrari, R. Fierro, and D. Tolic, "A geometric optimization approach to tracking maneuvering targets using a heterogeneous mobile sensor network," IEEE Conf. on Decision and Control & Chinese Control Conference (CDC/CCC), Shanghai, China, December 16-18, 2009.

P. Ng, D. Milkic, and R. Fierro, "A USARSim-based framework for the development of robotic games: An intruder-pursuit example," Workshop on Robots, Games, and Research: Success stories in USARSim, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 15 2009, pp. 1-6.

A. Cortez, R. Fierro, and J. Wood, "Prioritized sensor detection via dynamic Voronoi-based navigation," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009, pp. 5815-5820.

D. Miklic, S. Bogdan, R. Fierro, and S. Nestic, "A discrete grid abstraction for formation control in the presence of obstacles," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009, pp. 3750-3755.

S. Commuri and R. Fierro (Eds.), "Guest Editorial for the Special Issue on Unmanned Autonomous Vehicles," Journal of Intelligent Robotic Systems, Springer Netherlands, vol. 56, no. 1, September 2009, pp. 3-4. 

D. Miklic, S. Bogdan, and R. Fierro, "A grid-based approach to formation reconfiguration in cluttered environments," European Control Conference (ECC’09), Budapest, Hungary, August 23-26, 2009.

I. Palunko, R. Fierro, and C. Sultan, "Nonlinear modeling and output feedback control design for a small-scale helicopter," 17th Mediterranean Conference on Control and Automation (MED’09), Thessaloniki, Greece, June 24, 2009, pp. 1251-1256.

D. Tolic, R. Fierro, and S. Ferrari, "Cooperative multi-target tracking via hybrid modeling and geometric optimization," 17th Mediterranean Conference on Control and Automation (MED’09), Thessaloniki, Greece, June 24, 2009, pp. 440-445.

F. Xie and R. Fierro, "Stabilization of nonholonomic robot formations: A first-state contractive model predictive control approach," Journal of Computing and Information Technology, Special Issue on Advanced Mobile Robotics, vol. 17, no. 1, pp. 37-50, March 30, 2009.

S. Ferrari, R. Fierro, B. Perteet, C. Cai, and K. Baumgartner, "A geometric optimization approach to detecting and intercepting dynamic targets using a mobile sensor network," SIAM Journal on Control and Optimization Special Issue on Control and Optimization in Cooperative Networks, vol. 48, no.1, pp. 292-320, February 11, 2009. 

2008

R. Fierro, S. Ferrari, and C. Cai, "An Information-driven framework for motion planning in robotic sensor networks: Complexity and experiments," IEEE Conf. on Decision and Control (CDC’08), Cancun, Mexico, December 9-11, 2008, pp. 483-489.

J. McClintock and R. Fierro, "A hybrid system approach to formation reconfiguration in cluttered environments," 16th Mediterranean Conference on Control and Automation (MED’08), Ajaccio, Corsica, France, June 25-27, 2008, pp. 83-88.

F. Xie and R. Fierro, "First-state contractive model predictive control of nonholonomic mobile robots," American Control Conference (ACC'08), Seattle, WA, June 2008, pp. 3494-3499.

2007

O. A.A. Orqueda, X. Zhang, and R. Fierro, “An output feedback nonlinear decentralized controller for unmanned vehicle coordination,” International Journal of Robust Nonlinear Control, vol. 17, no. 12, pp. 1106-1128, 2007. DOI: 10.1002/rnc.1167. Available on-line since January 2007.

D. Cruz, J. McClintock, B. Perteet, O. Orqueda, Y. Cao, and R. Fierro, “Decentralized cooperative control: A multivehicle platform for research in networked embedded systems,” IEEE Control Systems Magazine, vol. 27, no. 3, pp. 58-78, June 2007. 

J. Clark and R. Fierro, “Mobile robotic sensors for perimeter detection and tracking,” ISA Transactions, vol. 46, no. 1, pp. 3-13, 2007. 2007 ISA Transactions Best Paper Award 

O. A.A. Orqueda and R. Fierro, “Model predictive path-space iteration for multirobot coordination,” in Cooperative Systems: Control and Optimization, D. Grundel, R. Murphey, P. Pardalos, and O. Prokopyev (eds.), Springer, Lecture Notes in Economics and Mathematical Systems, vol. 588, pp. 229-253, 2007.

S. Ferrari, C. Cai, R. Fierro, and B. Perteet, "A geometric optimization approach to detecting and intercepting dynamic targets,” American Control Conference, New York City, July 11-13, 2007, pp. 5316-5321.

F. Xie and R. Fierro, “On motion coordination of multiple vehicles with nonholonomic constraints,” American Control Conference, New York City, July 11-13, 2007, pp. 1888-1893.

O. A.A. Orqueda and R. Fierro, “Visual tracking of mobile robots in formation,” American Control Conference, New York City, July 11-13, 2007, pp. 5940-5945.

B. Perteet, J. McClintock, and R. Fierro, “A multi-vehicle framework for the development of Robotic Games: The Marco Polo case,” IEEE International Conference on Robotics and Automation ICRA’07, Rome, Italy, April 10-14, 2007, pp. 3717-3722.

2006

Y. Cao and R. Fierro, “Dynamic boundary tracking using dynamic sensor nets,” IEEE Conf. on Decision and Control (CDC’06), San Diego, CA, December 13-15, 2006, pp. 703-708.

C. Branca and R. Fierro, "Hierarchical optimization strategies for deployment of mobile robots," International Journal of Intelligent Control and Systems, Special Issue on Swarm Robotics, vol. 11, no.3, pp. 141-153, September 2006.

D. Cruz, "Experimental Testbed for Swarming and Cooperative Robotic Networks," OSU Theses [11887], July 1, 2007

C. Branca and R. Fierro, "A Hierarchical optimization algorithm for cooperative vehicle networks," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 4225-4230.

O. A.A. Orqueda and R. Fierro, "Robust Vision-based nonlinear formation control," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 1422-1427.

O. A.A. Orqueda and R. Fierro, "Vision-based nonlinear decentralized controller for unmanned vehicles," IEEE International Conference on Robotics and Automation, Orlando, Fl, May 15-19, 2006, pp. 1-6.

R. Fierro, L. Chaimowicz, and V. Kumar, “Multi-Robot Cooperation,” In Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis (eds.), CRC Press - Taylor & Francis Group, chapter 11, pp. 417-459, May 2006.

D. Pack, G. York, and R. Fierro, “Information-based cooperative control for multiple unmanned aerial vehicles,” IEEE Int. Conference on Networking, Sensing, and Control, Ft. Lauderdale, Fl, April 23-25, 2006, pp 672-676. (Invited paper)

E. Edwan and R. Fierro, “A low cost modular autonomous robot vehicle,” 38th Southeastern Symposium on System Theory (SSST 2006), Cookeville, TN, March 5-6, 2006, pp. 245-249.

R. Fierro and P. Song, "Coordination of Robot Teams: A Decentralized Approach," in Current Trends in Nonlinear Systems and Control: In honor of Petar Kokotovic and Turi Nicosia, L. Menini, L. Zaccarian, and C. T. Abdallah (eds.), Systems & Control: Foundations & Applications Series, pp. 447-463, Birkhäuser, 2006.

2005

F. Xie, T. Zhang, R. Fierro, and M. Motter, "Autopilot-based nonlinear UAV formation controller with extremum-seeking," IEEE Conf. on Decision and Control and European Control Conference (CDC-ECC'05), Seville, Spain, December 12-15, 2005, pp. 4933-4938.

R. Fierro, X. Zhang, F. Xie, and M. Motter, "Autopilot-based nonlinear UAV formation controller," IEEE Transactions on Control Systems Technology, October, 2005.

J. Clark and R. Fierro, "Cooperative hybrid control of robotic sensors for perimeter detection and tracking", American Control Conference (ACC), Portland, OR, June 8-10, 2005, pp. 3500-3505. Best Paper Presentation in the FrA03 Autonomous Systems and Networks Session.

J. Spletzer and R. Fierro, "Optimal position strategies for shape changes in robot teams," IEEE Int. Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005, pp.754-759.

R. Fierro, C. Branca, and J. Spletzer, “On-line optimization-based coordination of multiple unmanned vehicles,” IEEE Int. Conference on Networking, Sensing and Control, Tucson, AZ, March 19-22, 2005, pp. 716-721. (Invited paper)

R. Fierro, J. Clark, D. Hougen, and S. Commuri, "A multi-robot testbed for biologically-inspired cooperative control," in Multi-Robot Systems. From Swarms to Intelligent Automata, Volume III, L. E. Parker, F. E. Schneider, and A. C. Schultz (eds.), Springer, pp. 171-182, 2005.

R. Fierro and K. Wesselowski, "Optimization-based control of multi-vehicle systems," in A Post-Workshop Volume 2003 Block Island Workshop on Cooperative Control Series, V. Kumar, N.E. Leonard, and A.S. Morse (eds.), Springer-Verlag, Lecture Notes in Control and Information Sciences , Vol. 309, pp. 63-78, 2005.

 

2004

S. Commuri, Y. Li, D. Hougen, and R. Fierro, “Evaluating intelligence in unmanned ground vehicle teams,” Performance Metrics for Intelligent Systems Workshop (PerfMIS’04), NIST, Gaithersburg, MD, 2004.

S. Commuri, R. Fierro, D. Hougen, and R. Muthuraman, "System intelligence requires distributed learning," IEEE International Symposium on Intelligent Control, Taipei, Taiwan, September 2-4, 2004, pp. 67-72.

S. Commuri, Y. Li, D. Hougen, and R. Fierro, "Designing for system intelligence," 5th IFAC Symposium on Intelligent Autonomous Vehicles IAV, Lisbon, Portugal, July 5-7, 2004.

R. Fierro, J. Clark, J. Sánchez, K. Walling et al., “A low-cost modular multi-vehicle experimental testbed for cooperative control,” 2nd Annual Swarming: Network Enabled C4ISR Conference, Washington DC, June 14-16, 2004.

2003

K. Wesselowski and R. Fierro, "A dual-mode model predictive controller for robot formations," IEEE Conf. on Decision and Control, Maui, Hawaii, December 9-12, 2003, pp. 3615-3620.

J. Sanchez and R. Fierro, "Sliding mode control for robot formations," IEEE Int. Symposium on Intelligent Control, Houston TX, October 5-8, 2003, pp. 438-443.

R. Fierro and A. K. Das, "Hybrid control of reconfigurable robot formations," American Control Conference, Denver CO, June 4-6, 2003, pp. 4607-4612.

Y. Hur, R. Fierro, and I. Lee, "Modeling distributed autonomous robots using CHARON: Formation control case study," Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'03), Hakodate, Hokkaido, Japan, May 14-16, 2003, pp. 93 -96.

R. Fierro and A. K. Das, "On dynamic reconfiguration of multi-robot formations," in Multi-Robot Systems: From Swarms to Intelligent Automata, A. C. Schultz, L. E. Parker, and F. E. Schneider (eds.), Kluwer Academic Publishers, vol. 2, pp. 299-300, March 2003.

A. K. Das, R. Fierro, and V. Kumar, "Control graphs for robot networks," in Cooperative Control: Models, Applications and Algorithms, S. Butenko, R. Murphey and P. Pardalos (eds.), Cooperative Systems, vol. 1, chapter 4, pp. 55-73, Kluwer Academic Publishers, January 2003.

2002

R. Fierro and A. K. Das, "A modular architecture for formation control," IEEE 3rd International Workshop on Robot Motion and Control (RoMoCo'02), Bukowy Dworek, Poland, Nov. 9-11, 2002, pp. 285-290.

R. Fierro, A. Das, J. Spletzer, R. Alur, J. Esposito, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, "A framework and architecture for multi-robot coordination," The International Journal of Robotics Research, vol. 21, no.10-11, pp. 977-995, Oct-Nov 2002.

A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control framework," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 813-825, Oct. 2002.

R. Fierro and E. Edwan, "The OSU multi-vehicle coordination testbed," Proc. IEEE Midwest Symposium on Circuits and Systems (MWSCAS), vol. 3, Tulsa, OK, August 4-7, 2002, pp. 41-44.

Rajeev Alur, Aveek J Das, Joel Esposito, Rafael Fierro, et al.. "A Framework and Architecture for Multi-Robot Coordination" International Journal of Robotics Research Vol. 21 Iss. 10-11 (2002) p. 977 - 995

R. Fierro, P. Song, A. Das, and V. Kumar, "Cooperative control of robot formations," Cooperative Control and Optimization, R. Murphey and P. Pardalos (eds.), Applied Optimization, vol. 66, chapter 5, pp. 73-93, Kluwer Academic Publishers, 2002.

2001

R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations," Proc. IEEE Conference on Decision and Control (CDC'01), Orlando, FL, December 2001, pp. 1065-1070.

R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," EMSOFT 2001: First International Workshop on Embedded Software, Tahoe City, CA, Oct. 8-10, 2001.

J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, "Cooperative localization and control for multi-robot manipulation," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, (IROS'01), Maui, Hawaii, Oct. 2001, pp. 631-636.

R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," Embedded Software, T. A. Henzinger and C. M. Kirsch (eds.), LNCS 2211, Springer, pp. 14-31, September 2001.

R. Fierro, A. Das, V. Kumar, and J. P. Ostrowski, "Hybrid control of formations of robots," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 157-162. Finalist in the Best Conference Paper Competition.

A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719.

R. Fierro, P. Song, A. Das, and V. Kumar, "A framework for scalable cooperative navigation of autonomous vehicles," Technical Report MS-CIS-01-09, Department of Computer and Information Science, University of Pennsylvania, March 2001. 

R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Experimental Robotics VII, D. Rus and S. Singh (eds.), Springer, LNCIS 271, pp. 303-312, January 2001.

2000

R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Proc. ISER00, Seventh International Symposium on Experimental Robotics, Honolulu, Hawaii, Dec. 10-13, 2000.

R. Fierro, Y. Hur, I. Lee, and L. Sha, "Modeling the Simplex architecture using CHARON," Proc. Work-In-Progress Sessions of The 21st IEEE Real-Time Systems Symposium, Orlando, FL, Nov. 27-30, 2000, pp. 77-80.

 

1999

R. Fierro and F. L. Lewis, "Robot Kinematics," Wiley Encyclopedia of Electrical and Electronics Engineering, John Wiley & Sons, Inc.,  Dec. 27, 1999. 

R. Fierro, F. L. Lewis and A. Lowe, "Hybrid control for a class of underactuated mechanical systems," in IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, vol. 29, no. 6, pp. 649-654, Nov 1999.

1998

R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," in IEEE Transactions on Neural Networks, vol. 9, no. 4, pp. 589-600, Jul 1998.

R. Fierro, F. L. Lewis, and K. Liu, "Hybird control system design using a fuzzy logic interface," Circuits, Systems and Signal Processing, Springer, vol. 17, no. 3, pp. 401-419, May 1998.

1997

R. Fierro and F. L. Lewis, "A framework for hybrid control design," in IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans, vol. 27, no. 6, pp. 765-773, Nov 1997.

R. Fierro and F. L. Lewis, "Robust Practical Point Stabilization of a Nonholonomic Mobile Robot Using Neural Networks," Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 20, no. 2, pp. 295-317, September 1997.

R. Fierro, F. L. Lewis, and K. Liu, "A Framework for Hybrid Control Design and its Relations with a Class of Fuzzy Logic Control Systems," IEEE Mediterranean Conf. Contr. Syst, July 1997.

R. Fierro, "A hybrid system approach to a class of intelligent control systems," The University of Texas at Arlington, January 1997.

R. Fierro, F. L. Lewis and A. Lowe, "A hybrid control approach for a class of underactuated mechanical systems," Intelligent Control, 1997. Proceedings of the 1997 IEEE International Symposium on, Istanbul, 1997, pp. 367-372.

1996

R. Fierro and F. L. Lewis, "Practical point stabilization of a nonholonomic mobile robot using neural networks," Decision and Control, 1996., Proceedings of the 35th IEEE Conference on, Kobe, 1996, pp. 1722-1727 vol.2.

C. T. Abdallah, R. Fierro, and F. L. Lewis, "Common, multiple and parametric Lyapunov functions for a class of hybrid dynamical systems," Proceedings of the 4th IEEE Mediterranean Symposium of New Directions in Control and Automation, Krete, Greece: 77-82, 1996. 

 

1995

R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot: backstepping kinematics into dynamics," Decision and Control, 1995., Proceedings of the 34th IEEE Conference on, New Orleans, LA, 1995, pp. 3805-3810 vol.4.

R. Zulli, R. Fierro, G. Conte and F. L. Lewis, "Motion planning and control for non-holonomic mobile robots," Intelligent Control, 1995., Proceedings of the 1995 IEEE International Symposium on, Monterey, CA, 1995, pp. 551-557.

F. L. Lewis, H. Huang, R. Fierro, D. Tacconi, "Real-time task planning, resource allocation, and deadlock avoidance," In Proc. ISIC Workshop on Architectures for Semiotic Modeling and Situation Analysis in Large Complex Systems, August 1995, pp. 347-355.

 

1994

K. Ratlif, R. Fierro, R. Richardson, and F. L. Lewis, "Towards a framework for intelligent control," In Proc. ISPE/IFAC Int. Conference on CAD/CAM, Robotics and Factories of the Future, CARs & FOF '94, August 1994, pp. 921-927

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