Recycling controllers. - Hadas Kress-Gazit; Nora Ayanian; George J. Pappas; Vijay Kumar 001 (CASE, 2008)

Decentralized feedback controllers for multi-agent teams in environments with obstacles. - Nora Ayanian; Vijay Kumar 001 (ICRA, 2008)

Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints. - Nora Ayanian; Vijay Kumar 001; Daniel E. Koditschek (ISRR, 2009)

Abstractions and controllers for groups of robots in environments with obstacles. - Nora Ayanian; Vijay Kumar 001 (ICRA, 2010)

Decentralized Feedback Controllers for Multiagent Teams in Environments With Obstacles. - Nora Ayanian; Vijay Kumar 001 (IEEE Trans. Robotics, 2010)

Synthesis of feedback controllers for multiple aerial robots with geometric constraints. - Nora Ayanian; Vinutha Kallem; Vijay Kumar 001 (IROS, 2011)

Subdimensional Expansion and Optimal Task Reassignment. - Glenn Wagner; Howie Choset; Nora Ayanian (SOCS, 2012)

Improving the performance of multi-robot systems by task switching. - Cynthia R. Sung; Nora Ayanian; Daniela Rus (ICRA, 2013)

Controlling a team of robots with a single input. - Nora Ayanian; Andrew Spielberg; Matthew Arbesfeld; Jason Strauss; Daniela Rus (ICRA, 2014)

Cooperative Control for Target Tracking with Onboard Sensing. - Karol Hausman; Jörg Müller 004; Abishek Hariharan; Nora Ayanian; Gaurav S. Sukhatme (ISER, 2014)

Persistent Monitoring of Stochastic Spatio-temporal Phenomena with a Small Team of Robots. - Sahil Garg; Nora Ayanian (Robotics: Science and Systems, 2014)

A mixed integer programming model for timed deliveries in multirobot systems. - Nitin Kamra; Nora Ayanian (CASE, 2015)

Mixed reality for robotics. - Wolfgang Hönig; Christina Milanes; Lisa Scaria; Thai Phan; Mark T. Bolas; Nora Ayanian (IROS, 2015)

The optimism principle: A unified framework for optimal robotic network deployment in an unknown obstructed environment. - Shangxing Wang; Bhaskar Krishnamachari; Nora Ayanian (IROS, 2015)

Cooperative multi-robot control for target tracking with onboard sensing. - Karol Hausman; Jörg Müller 004; Abishek Hariharan; Nora Ayanian; Gaurav S. Sukhatme (Int. J. Robotics Res., 2015)

Multi-Agent Path Finding with Kinematic Constraints. - Wolfgang Hönig; T. K. Satish Kumar; Liron Cohen 002; Hang Ma 001; Hong Xu 003; Nora Ayanian; Sven Koenig (ICAPS, 2016)

Local Search on Trees and a Framework for Automated Construction Using Multiple Identical Robots: (Extended Abstract). - Trevor Cai; David Y. Zhang; T. K. Satish Kumar; Sven Koenig; Nora Ayanian (AAMAS, 2016)

Crowdsourced Coordination Through Online Games. - Arash Tavakoli; Haig Nalbandian; Nora Ayanian (HRI, 2016)

SAGL: A New Heuristic for Multi-Robot Routing with Complex Tasks. - Hong Xu 003; T. K. Satish Kumar; Dylan Johnke; Nora Ayanian; Sven Koenig (ICTAI, 2016)

Improved Solvers for Bounded-Suboptimal Multi-Agent Path Finding. - Liron Cohen 002; Tansel Uras; T. K. Satish Kumar; Hong Xu 003; Nora Ayanian; Sven Koenig (IJCAI, 2016)

Dynamic multi-target coverage with robotic cameras. - Wolfgang Hönig; Nora Ayanian (IROS, 2016)

Formation change for robot groups in occluded environments. - Wolfgang Hönig; T. K. Satish Kumar; Hang Ma 001; Sven Koenig; Nora Ayanian (IROS, 2016)

Multiplayer Games for Learning Multirobot Coordination Algorithms. - Arash Tavakoli; Haig Nalbandian; Nora Ayanian (CoRR, 2016)

Crazyswarm: A large nano-quadcopter swarm. - James A. Preiss; Wolfgang Hönig; Gaurav S. Sukhatme; Nora Ayanian (ICRA, 2017)

Summary: Multi-Agent Path Finding with Kinematic Constraints. - Wolfgang Hönig; T. K. Satish Kumar; Liron Cohen 002; Hang Ma 001; Hong Xu 003; Nora Ayanian; Sven Koenig (IJCAI, 2017)

Downwash-aware trajectory planning for large quadrotor teams. - James A. Preiss; Wolfgang Hönig; Nora Ayanian; Gaurav S. Sukhatme (IROS, 2017)

Forecasting battery state of charge for robot missions. - Ameer Hamza; Nora Ayanian (SAC, 2017)

Overview: Generalizations of Multi-Agent Path Finding to Real-World Scenarios. - Hang Ma 001; Sven Koenig; Nora Ayanian; Liron Cohen 002; Wolfgang Hönig; T. K. Satish Kumar; Tansel Uras; Hong Xu 003; Craig A. Tovey; Guni Sharon (CoRR, 2017)

Path Planning with Kinematic Constraints for Robot Groups. - Wolfgang Hönig; T. K. Satish Kumar; Liron Cohen 002; Hang Ma 001; Sven Koenig; Nora Ayanian (CoRR, 2017)

Downwash-Aware Trajectory Planning for Large Quadcopter Teams. - James A. Preiss; Wolfgang Hönig; Nora Ayanian; Gaurav S. Sukhatme (CoRR, 2017)

ROMANO: A Novel Overlay Lightweight Communication Protocol for Unified Control and Sensing of a Network of Robots. - Pradipta Ghosh; Jason A. Tran; Daniel D'Souza; Nora Ayanian; Bhaskar Krishnamachari (CoRR, 2017)

Overview: A Hierarchical Framework for Plan Generation and Execution in Multirobot Systems. - Hang Ma 001; Wolfgang Hönig; Liron Cohen 002; Tansel Uras; Hong Xu 003; T. K. Satish Kumar; Nora Ayanian; Sven Koenig (IEEE Intell. Syst., 2017)

Multirobot Systems [TC Spotlight]. - Nora Ayanian; Robert Fitch; Antonio Franchi; Lorenzo Sabattini (IEEE Robotics Autom. Mag., 2017)

Conflict-Based Search with Optimal Task Assignment. - Wolfgang Hönig; Scott Kiesel; Andrew Tinka; Joseph W. Durham; Nora Ayanian (AAMAS, 2018)

Robust Trajectory Execution for Multi-robot Teams Using Distributed Real-time Replanning. - Baskin Senbaslar; Wolfgang Hönig; Nora Ayanian (DARS, 2018)

Will Distributed Computing Revolutionize Peace? The Emergence of Battlefield IoT. - Tarek F. Abdelzaher; Nora Ayanian; Tamer Basar; Suhas N. Diggavi; Jana Diesner; Deepak Ganesan; Ramesh Govindan; Susmit Jha; Tancrède Lepoint; Benjamin M. Marlin; Klara Nahrstedt; David M. Nicol; et al. (ICDCS, 2018)

Trajectory Planning for Heterogeneous Robot Teams. - Mark Debord; Wolfgang Hönig; Nora Ayanian (IROS, 2018)

Intelligent Robotic IoT System (IRIS)Testbed. - Jason A. Tran; Pradipta Ghosh; Yutong Gu; Richard Kim; Daniel D'Souza; Nora Ayanian; Bhaskar Krishnamachari (IROS, 2018)

Mixed Reality Collaboration Between Human-Agent Teams. - Thai Phan; Wolfgang Hönig; Nora Ayanian (VR, 2018)

Toward an Internet of Battlefield Things: A Resilience Perspective. - Tarek F. Abdelzaher; Nora Ayanian; Tamer Basar; Suhas N. Diggavi; Jana Diesner; Deepak Ganesan; Ramesh Govindan; Susmit Jha; Tancrède Lepoint; Benjamin M. Marlin; Klara Nahrstedt; David M. Nicol; et al. (Computer, 2018)

Overview: A Hierarchical Framework for Plan Generation and Execution in Multi-Robot Systems. - Hang Ma 001; Wolfgang Hönig; Liron Cohen 002; Tansel Uras; Hong Xu 003; T. K. Satish Kumar; Nora Ayanian; Sven Koenig (CoRR, 2018)

Combinatorial Problems in Multirobot Battery Exchange Systems. - Nitin Kamra; T. K. Satish Kumar; Nora Ayanian (IEEE Trans Autom. Sci. Eng., 2018)

Trajectory Planning for Quadrotor Swarms. - Wolfgang Hönig; James A. Preiss; T. K. Satish Kumar; Gaurav S. Sukhatme; Nora Ayanian (IEEE Trans. Robotics, 2018)

Lifelong Path Planning with Kinematic Constraints for Multi-Agent Pickup and Delivery. - Hang Ma 001; Wolfgang Hönig; T. K. Satish Kumar; Nora Ayanian; Sven Koenig (AAAI, 2019)

Summary: Distributed Task Assignment and Path Planning with Limited Communication for Robot Teams. - Dario Albani; Wolfgang Hönig; Nora Ayanian; Daniele Nardi; Vito Trianni (AAMAS, 2019)

3D Keypoint Repeatability for Heterogeneous Multi-Robot SLAM. - Elizabeth R. Boroson; Nora Ayanian (ICRA, 2019)

Sim-to-(Multi)-Real: Transfer of Low-Level Robust Control Policies to Multiple Quadrotors. - Artem Molchanov; Tao Chen; Wolfgang Hönig; James A. Preiss; Nora Ayanian; Gaurav S. Sukhatme (IROS, 2019)

Extended Abstract: Lifelong Path Planning with Kinematic Constraintsfor Multi-Agent Pickup and Delivery. - Hang Ma 001; Wolfgang Hönig; T. K. Satish Kumar; Nora Ayanian; Sven Koenig (SOCS, 2019)

DART: Diversity-enhanced Autonomy in Robot Teams. - Nora Ayanian (Int. J. Robotics Res., 2019)

Persistent and Robust Execution of MAPF Schedules in Warehouses. - Wolfgang Hönig; Scott Kiesel; Andrew Tinka; Joseph W. Durham; Nora Ayanian (IEEE Robotics Autom. Lett., 2019)

Inter-Robot Range Measurements in Pose Graph Optimization. - Elizabeth R. Boroson; Robert Hewitt; Nora Ayanian; Jean-Pierre de la Croix (IROS, 2020)

Guest editorial: special issue on multi-robot and multi-agent systems. - Nora Ayanian; Paolo Robuffo Giordano; Robert Fitch; Antonio Franchi; Lorenzo Sabattini (Auton. Robots, 2020)

Automatic Optimal Multi-Agent Path Finding Algorithm Selector (Student Abstract). - Jingyao Ren; Vikraman Sathiyanarayanan; Eric Ewing; Baskin Senbaslar; Nora Ayanian (AAAI, 2021)

MAPFAST: A Deep Algorithm Selector for Multi Agent Path Finding using Shortest Path Embeddings. - Jingyao Ren; Vikraman Sathiyanarayanan; Eric Ewing; Baskin Senbaslar; Nora Ayanian (AAMAS, 2021)

Byzantine Fault Tolerant Consensus for Lifelong and Online Multi-robot Pickup and Delivery. - Kegan Strawn; Nora Ayanian (DARS, 2021)

Double Meta-Learning for Data Efficient Policy Optimization in Non-Stationary Environments. - Elahe Aghapour; Nora Ayanian (ICRA, 2021)

RLSS: Real-time Multi-Robot Trajectory Replanning using Linear Spatial Separations. - Baskin Senbaslar; Wolfgang Hönig; Nora Ayanian (CoRR, 2021)

Betweenness Centrality in Multi-Agent Path Finding. - Eric Ewing; Jingyao Ren; Dhvani Kansara; Vikraman Sathiyanarayanan; Nora Ayanian (AAMAS, 2022)

FireFly: A Synthetic Dataset for Ember Detection in Wildfire. - Yue Hu; Xinan Ye; Yifei Liu; Souvik Kundu 002; Gourav Datta; Srikar Mutnuri; Namo Asavisanu; Nora Ayanian; Konstantinos Psounis; Peter A. Beerel (ICCV (Workshops), 2023)

RLSS: real-time, decentralized, cooperative, networkless multi-robot trajectory planning using linear spatial separations. - Baskin Senbaslar; Wolfgang Hönig; Nora Ayanian (Auton. Robots, 2023)

Conformal Predictive Safety Filter for RL Controllers in Dynamic Environments. - Kegan J. Strawn; Nora Ayanian; Lars Lindemann (IEEE Robotics Autom. Lett., 2023)

Map Connectivity and Empirical Hardness of Grid-based Multi-Agent Pathfinding Problem. - Jingyao Ren; Eric Ewing; T. K. Satish Kumar; Sven Koenig; Nora Ayanian (ICAPS, 2024)

Hierarchical Large Scale Multirobot Path (Re)Planning. - Lishuo Pan; Kevin Hsu; Nora Ayanian (IROS, 2024)

Empirical Hardness in Multi-Agent Pathfinding: Research Challenges and Opportunities. - Jingyao Ren; Eric Ewing; T. K. Satish Kumar; Sven Koenig; Nora Ayanian (AAMAS, 2025)

Hierarchical Trajectory (Re)Planning for a Large Scale Swarm. - Lishuo Pan; Yutong Wang; Nora Ayanian (CoRR, 2025)

Robust Trajectory Generation and Control for Quadrotor Motion Planning with Field-of-View Control Barrier Certification. - Lishuo Pan; Mattia Catellani; Lorenzo Sabattini; Nora Ayanian (CoRR, 2025)

Influence of Static and Dynamic Downwash Interactions on Multi-Quadrotor Systems. - Anoop Kiran; Nora Ayanian; Kenneth Breuer (CoRR, 2025)

Multi-Agent Path Finding Among Dynamic Uncontrollable Agents with Statistical Safety Guarantees. - Kegan J. Strawn; Thomy Phan; Eric Wang; Nora Ayanian; Sven Koenig; Lars Lindemann (CoRR, 2025)