Planning end effector trajectories for a serially linked, floating-base robot with changing support polygon. - Ellen A. Cappo; Howie Choset (ACC, 2014)

Locomotive reduction for snake robots. - Xuesu Xiao; Ellen A. Cappo; Weikun Zhen; Jin Dai; Ke Sun 002; Chaohui Gong; Matthew J. Travers; Howie Choset (ICRA, 2015)

Robust Coordinated Aerial Deployments for Theatrical Applications Given Online User Interaction via Behavior Composition. - Ellen A. Cappo; Arjav Desai; Nathan Michael (DARS, 2016)

Dynamically feasible and safe shape transitions for teams of aerial robots. - Arjav Desai; Ellen A. Cappo; Nathan Michael (IROS, 2016)

Persistent robot formation flight via online substitution. - Derek Mitchell; Ellen A. Cappo; Nathan Michael (IROS, 2016)

Online planning for human-multi-robot interactive theatrical performance. - Ellen A. Cappo; Arjav Desai; Matthew Collins; Nathan Michael (Auton. Robots, 2018)

Data Driven Online Multi-Robot Formation Planning. - Ellen A. Cappo; Arjav Desai; Nathan Michael (IROS, 2020)

Data-Driven Multi-Robot Planning for Online User-Directed Coordination. - Ellen A. Cappo (2021)