Probabilistic guidance of distributed systems using sequential convex programming. - Daniel Morgan; Giri Prashanth Subramanian; Saptarshi Bandyopadhyay; Soon-Jo Chung; Fred Y. Hadaegh (IROS, 2014)

Swarm assignment and trajectory optimization using variable-swarm, distributed auction assignment and sequential convex programming. - Daniel Morgan; Giri Prashanth Subramanian; Soon-Jo Chung; Fred Y. Hadaegh (Int. J. Robotics Res., 2016)