Crowdsourcing swarm manipulation experiments: A massive online user study with large swarms of simple robots. - Aaron T. Becker; Chris Ertel; James McLurkin (ICRA, 2014)

Steering a Particle Swarm Using Global Inputs and Swarm Statistics. - Shiva Shahrokhi; Lillian Lin; Chris Ertel; Mable Wan; Aaron T. Becker (CoRR, 2017)

Steering a Swarm of Particles Using Global Inputs and Swarm Statistics. - Shiva Shahrokhi; Lillian Lin; Chris Ertel; Mable Wan; Aaron T. Becker (IEEE Trans. Robotics, 2018)