Algorithms for the Analysis and Synthesis of a Bio-inspired Swarm Robotic System. - Spring Berman; Ádám M. Halász; Vijay Kumar 001; Stephen Pratt (Swarm Robotics, 2006)

MARCO: A Reachability Algorithm for Multi-affine Systems with Applications to Biological Systems. - Spring Berman; Ádám M. Halász; Vijay Kumar 001 (HSCC, 2007)

Bio-Inspired Group Behaviors for the Deployment of a Swarm of Robots to Multiple Destinations. - Spring Berman; Ádám M. Halász; Vijay Kumar 001; Stephen Pratt (ICRA, 2007)

Dynamic redistribution of a swarm of robots among multiple sites. - Ádám M. Halász; M. Ani Hsieh; Spring Berman; Vijay Kumar 001 (IROS, 2007)

Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites. - Spring Berman; Ádám M. Halász; M. Ani Hsieh; Vijay Kumar 001 (CDC, 2008)

Biologically inspired redistribution of a swarm of robots among multiple sites. - M. Ani Hsieh; Ádám M. Halász; Spring Berman; Vijay Kumar 001 (Swarm Intell., 2008)

Abstractions and algorithms for assembly tasks with large numbers of robots and parts. - Spring Berman; Vijay Kumar 001 (CASE, 2009)

Stochastic strategies for a swarm robotic assembly system. - Loic Matthey; Spring Berman; Vijay Kumar 001 (ICRA, 2009)

Optimized Stochastic Policies for Task Allocation in Swarms of Robots. - Spring Berman; Ádám M. Halász; M. Ani Hsieh; Vijay Kumar 001 (IEEE Trans. Robotics, 2009)

Study of group food retrieval by ants as a model for multi-robot collective transport strategies. - Spring Berman; Quentin Lindsey; Mahmut Selman Sakar; Vijay Kumar 001; Stephen Pratt (Robotics: Science and Systems, 2010)

Design of control policies for spatially inhomogeneous robot swarms with application to commercial pollination. - Spring Berman; Vijay Kumar 001; Radhika Nagpal (ICRA, 2011)

Optimization of stochastic strategies for spatially inhomogeneous robot swarms: A case study in commercial pollination. - Spring Berman; Radhika Nagpal; Ádám M. Halász (IROS, 2011)

Experimental Study and Modeling of Group Retrieval in Ants as an Approach to Collective Transport in Swarm Robotic Systems. - Spring Berman; Quentin Lindsey; Mahmut Selman Sakar; Vijay Kumar 001; Stephen Pratt (Proc. IEEE, 2011)

A comparison of deterministic and stochastic approaches for allocating spatially dependent tasks in micro-aerial vehicle collectives. - Karthik Dantu; Spring Berman; Bryan Kate; Radhika Nagpal (IROS, 2012)

A stochastic hybrid system model of collective transport in the desert ant aphaenogaster cockerelli. - Ganesh P. Kumar 001; Aurélie Buffin; Theodore P. Pavlic; Stephen Pratt; Spring Berman (HSCC, 2013)

An Enzyme-Inspired Approach to Stochastic Allocation of Robotic Swarms Around Boundaries. - Theodore P. Pavlic; Sean Wilson; Ganesh P. Kumar 001; Spring Berman (ISRR, 2013)

Scalable Formation Control of Multi-robot Chain Networks Using a PDE Abstraction. - Karthik Elamvazhuthi; Spring Berman (DARS, 2014)

Statistical analysis of stochastic multi-robot boundary coverage. - Ganesh P. Kumar 001; Spring Berman (ICRA, 2014)

Design of ant-inspired stochastic control policies for collective transport by robotic swarms. - Sean Wilson; Theodore P. Pavlic; Ganesh P. Kumar 001; Aurélie Buffin; Stephen C. Pratt; Spring Berman (Swarm Intell., 2014)

Optimal control of stochastic coverage strategies for robotic swarms. - Karthik Elamvazhuthi; Spring Berman (ICRA, 2015)

An Optimal Control Approach to Mapping GPS-Denied Environments Using a Stochastic Robotic Swarm. - Ragesh K. Ramachandran; Karthik Elamvazhuthi; Spring Berman (ISRR (1), 2015)

Confinement control of double integrators using partially periodic leader trajectories. - Karthik Elamvazhuthi; Sean Wilson; Spring Berman (ACC, 2016)

Coverage and field estimation on bounded domains by diffusive swarms. - Karthik Elamvazhuthi; Chase Adams; Spring Berman (CDC, 2016)

Decentralized sliding mode control for autonomous collective transport by multi-robot systems. - Hamed Farivarnejad; Sean Wilson; Spring Berman (CDC, 2016)

A Probabilistic Topological Approach to Feature Identification Using a Stochastic Robotic Swarm. - Ragesh K. Ramachandran; Sean Wilson; Spring Berman (DARS, 2016)

The Probabilistic Analysis of the Communication Network created by Dynamic Boundary Coverage. - Ganesh P. Kumar 001; Spring Berman (CoRR, 2016)

The Effect of Communication Topology on Scalar Field Estimation by Networked Robotic Swarms. - Ragesh K. Ramachandran; Spring Berman (CoRR, 2016)

Pheeno, A Versatile Swarm Robotic Research and Education Platform. - Sean Wilson; Ruben Gameros; Michael Sheely; Matthew Lin; Kathryn Dover; Robert Gevorkyan; Matt Haberland; Andrea L. Bertozzi; Spring Berman (IEEE Robotics Autom. Lett., 2016)

ACC 2017 tutorial session: Bio-inspired network dynamics and control. - Spring Berman (ACC, 2017)

The effect of communication topology on scalar field estimation by large networks with partially accessible measurements. - Ragesh K. Ramachandran; Spring Berman (ACC, 2017)

Controllability to equilibria of the 1-D fokker-planck equation with zero-flux boundary condition. - Karthik Elamvazhuthi; Hendrik Kuiper; Spring Berman (CDC, 2017)

Mean-field controllability and decentralized stabilization of Markov chains. - Karthik Elamvazhuthi; Matthias Kawski; Shiba Biswal; Vaibhav Deshmukh; Spring Berman (CDC, 2017)

Decentralized stochastic control of robotic swarm density: Theory, simulation, and experiment. - Hanjun Li 001; Chunhan Feng; Henry Ehrhard; Yijun Shen; Bernardo Cobos; Fangbo Zhang; Karthik Elamvazhuthi; Spring Berman; Matt Haberland; Andrea L. Bertozzi (IROS, 2017)

Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part II: Asymptotic Controllability and Polynomial Feedbacks. - Shiba Biswal; Karthik Elamvazhuthi; Spring Berman (CoRR, 2017)

Mean-Field Controllability and Decentralized Stabilization of Markov Chains, Part I: Global Controllability and Rational Feedbacks. - Karthik Elamvazhuthi; Vaibhav Deshmukh; Matthias Kawski; Spring Berman (CoRR, 2017)

Design of Stochastic Robotic Swarms for Target Performance Metrics in Boundary Coverage Tasks. - Ganesh P. Kumar 001; Spring Berman (CoRR, 2017)

A Probabilistic Approach to Automated Construction of Topological Maps Using a Stochastic Robotic Swarm. - Ragesh K. Ramachandran; Sean Wilson; Spring Berman (IEEE Robotics Autom. Lett., 2017)

Mean-Field Stabilization of Robotic Swarms to Probability Distributions with Disconnected Supports. - Karthik Elamvazhuthi; Shiba Biswal; Spring Berman (ACC, 2018)

Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport. - Hamed Farivarnejad; Spring Berman (ACC, 2018)

Decentralized Control of Distributed Actuation in a Segmented Soft Robot Arm. - Azadeh Doroudchi; Sachin Shivakumar; Rebecca E. Fisher; Hamid Marvi 001; Daniel Aukes; Ximin He; Spring Berman; Matthew M. Peet (CDC, 2018)

Nonlinear Generalizations of Diffusion-Based Coverage by Robotic Swarms. - Karthik Elamvazhuthi; Spring Berman (CDC, 2018)

Guest editorial: Special issue on distributed robotics - from fundamentals to applications. - Roderich Groß; Andreas Kolling; Spring Berman; Alcherio Martinoli; Emilio Frazzoli; Fumitoshi Matsuno (Auton. Robots, 2018)

PDE-based optimization for stochastic mapping and coverage strategies using robotic ensembles. - Karthik Elamvazhuthi; Hendrik Kuiper; Spring Berman (Autom., 2018)

Algorithmic Foundations of Programmable Matter (Dagstuhl Seminar 18331). - Spring Berman; Sándor P. Fekete; Matthew J. Patitz; Christian Scheideler (Dagstuhl Reports, 2018)

Mean-Field Stabilization of Markov Chain Models for Robotic Swarms: Computational Approaches and Experimental Results. - Vaibhav Deshmukh; Karthik Elamvazhuthi; Shiba Biswal; Zahi M. Kakish; Spring Berman (IEEE Robotics Autom. Lett., 2018)

Performance Bounds on Spatial Coverage Tasks by Stochastic Robotic Swarms. - Fangbo Zhang; Andrea L. Bertozzi; Karthik Elamvazhuthi; Spring Berman (IEEE Trans. Autom. Control., 2018)

Fastest Mixing Markov Chain on a Compact Manifold. - Shiba Biswal; Karthik Elamvazhuthi; Spring Berman (CDC, 2019)

Automated Construction of Metric Maps using a Stochastic Robotic Swarm Leveraging Received Signal Strength. - Ragesh K. Ramachandran; Spring Berman (CoRR, 2019)

Optimal Transport Over Deterministic Discrete-Time Nonlinear Systems Using Stochastic Feedback Laws. - Karthik Elamvazhuthi; Piyush Grover; Spring Berman (IEEE Control. Syst. Lett., 2019)

Bilinear Controllability of a Class of Advection-Diffusion-Reaction Systems. - Karthik Elamvazhuthi; Hendrik Kuiper; Matthias Kawski; Spring Berman (IEEE Trans. Autom. Control., 2019)

Decentralized Collective Transport along Manifolds Compatible with Holonomic Constraints by Robots with Minimal Global Information. - Hamed Farivarnejad; Spring Berman (ACC, 2020)

A Consensus Strategy for Decentralized Kinematic Control of Multi-Segment Soft Continuum Robots. - Amir Salimi Lafmejani; Hamed Farivarnejad; Azadeh Doroudchi; Spring Berman (ACC, 2020)

Spectral Gap Optimization of Divergence Type Diffusion Operators. - Shiba Biswal; Karthik Elamvazhuthi; Hans D. Mittelmann; Spring Berman (ECC, 2020)

Go-CHART: A miniature remotely accessible self-driving car robot. - Shenbagaraj Kannapiran; Spring Berman (IROS, 2020)

H∞-Optimal Tracking Controller for Three-Wheeled Omnidirectional Mobile Robots with Uncertain Dynamics. - Amir Salimi Lafmejani; Hamed Farivarnejad; Spring Berman (IROS, 2020)

Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation. - Azadeh Doroudchi; Roozbeh Khodambashi; Amir Salimi Lafmejani; Daniel M. Aukes; Spring Berman (RoboSoft, 2020)

Multi-Robot Target Search using Probabilistic Consensus on Discrete Markov Chains. - Aniket Shirsat; Karthik Elamvazhuthi; Spring Berman (SSRR, 2020)

New Insights on the Control and Function of Octopus Suckers. - Hosain Bagheri; Anna Hu; Sheldon Cummings; Cayla Roy; Rachel Casleton; Ashley Wan; Nicole Erjavic; Spring Berman; Matthew M. Peet; Daniel M. Aukes; Ximin He; Stephen C. Pratt; et al. (Adv. Intell. Syst., 2020)

Decentralized Multi-target Tracking with Multiple Quadrotors using a PHD Filter. - Aniket Shirsat; Spring Berman (CoRR, 2020)

Kinematic Modeling and Trajectory Tracking Control of an Octopus-Inspired Hyper-Redundant Robot. - Amir Salimi Lafmejani; Azadeh Doroudchi; Hamed Farivarnejad; Ximin He; Daniel Aukes; Matthew M. Peet; Hamidreza Marvi 001; Rebecca E. Fisher; Spring Berman (IEEE Robotics Autom. Lett., 2020)

Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles. - Hamed Farivarnejad; Spring Berman (Syst. Control. Lett., 2020)

Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots. - Ragesh K. Ramachandran; Zahi M. Kakish; Spring Berman (IEEE Trans. Robotics, 2020)

Using Reinforcement Learning to Herd a Robotic Swarm to a Target Distribution. - Zahi M. Kakish; Karthik Elamvazhuthi; Spring Berman (DARS, 2021)

A Visual Inertial Odometry Framework for 3D Points, Lines and Planes. - Shenbagaraj Kannapiran; Jeroen van Baar; Spring Berman (IROS, 2021)

Configuration Tracking for Soft Continuum Robotic Arms Using Inverse Dynamic Control of a Cosserat Rod Model. - Azadeh Doroudchi; Spring Berman (RoboSoft, 2021)

Miniaturized Untethered Soft Robots Using Hydrogel-based Soft Voxel Actuators. - Roozbeh Khodambashi; Spring Berman; Ximin He; Daniel M. Aukes (RoboSoft, 2021)

Controllability and decentralized stabilization of the Kolmogorov forward equation for Markov chains. - Karthik Elamvazhuthi; Shiba Biswal; Spring Berman (Autom., 2021)

Towards Decentralized Human-Swarm Interaction by Means of Sequential Hand Gesture Recognition. - Zahi M. Kakish; Sritanay Vedartham; Spring Berman (CoRR, 2021)

Tracking Control of a Miniature 2-DOF Manipulator With Hydrogel Actuators. - Azadeh Doroudchi; Roozbeh Khodambashi; Mohammad Sharifzadeh; Dongting Li; Spring Berman; Daniel M. Aukes (IEEE Robotics Autom. Lett., 2021)

Adaptation of Gradient-Based Navigation Control for Holonomic Robots to Nonholonomic Robots. - Amir Salimi Lafmejani; Hamed Farivarnejad; Spring Berman (IEEE Robotics Autom. Lett., 2021)

Nonlinear MPC for collision-free and deadlock-free navigation of multiple nonholonomic mobile robots. - Amir Salimi Lafmejani; Spring Berman (Robotics Auton. Syst., 2021)

Stabilization of Nonlinear Discrete-Time Systems to Target Measures Using Stochastic Feedback Laws. - Shiba Biswal; Karthik Elamvazhuthi; Spring Berman (IEEE Trans. Autom. Control., 2021)

Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach. - Karthik Elamvazhuthi; Zahi M. Kakish; Aniket Shirsat; Spring Berman (IEEE Trans. Robotics, 2021)

Optimal Control of Velocity and Nonlocal Interactions in the Mean-Field Kuramoto Model. - Carlo Sinigaglia; Francesco Braghin; Spring Berman (ACC, 2022)

NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments. - Amir Salimi Lafmejani; Spring Berman; Georgios Fainekos (IROS, 2022)

Multirobot Control Strategies for Collective Transport. - Hamed Farivarnejad; Spring Berman (Annu. Rev. Control. Robotics Auton. Syst., 2022)

Configuration Tracking Control of a Multi-Segment Soft Robotic Arm Using a Cosserat Rod Model. - Azadeh Doroudchi; Zhi Qiao; Wenlong Zhang; Spring Berman (CoRR, 2022)

CHARTOPOLIS: A Small-Scale Labor-art-ory for Research and Reflection on Autonomous Vehicles, Human-Robot Interaction, and Sociotechnical Imaginaries. - Sangeet Sankaramangalam Ulhas; Aditya Ravichander; Kathryn A. Johnson; Theodore P. Pavlic; Lance Gharavi; Spring Berman (CoRR, 2022)

Single-Shot Domain Adaptation via Target-Aware Generative Augmentation. - Rakshith Subramanyam; Kowshik Thopalli; Spring Berman; Pavan K. Turaga; Jayaraman J. Thiagarajan (CoRR, 2022)

Probabilistic Consensus on Feature Distribution for Multi-Robot Systems With Markovian Exploration Dynamics. - Aniket Shirsat; Shatadal Mishra; Wenlong Zhang; Spring Berman (IEEE Robotics Autom. Lett., 2022)

Decentralized Control of Multiagent Systems Using Local Density Feedback. - Shiba Biswal; Karthik Elamvazhuthi; Spring Berman (IEEE Trans. Autom. Control., 2022)

Single-Shot Domain Adaptation via Target-Aware Generative Augmentations. - Rakshith Subramanyam; Kowshik Thopalli; Spring Berman; Pavan K. Turaga; Jayaraman J. Thiagarajan (ICASSP, 2023)

Implementation of a Cosserat Rod-Based Configuration Tracking Controller on a Multi-Segment Soft Robotic Arm. - Azadeh Doroudchi; Zhi Qiao; Wenlong Zhang; Spring Berman (IROS, 2023)

Stereo Visual Odometry with Deep Learning-Based Point and Line Feature Matching Using an Attention Graph Neural Network. - Shenbagaraj Kannapiran; Nalin Bendapudi; Ming-Yuan Yu; Devarth Parikh; Spring Berman; Ankit Vora; Gaurav Pandey 004 (IROS, 2023)

PathFinder: Attention-Driven Dynamic Non-Line-of-Sight Tracking with a Mobile Robot. - Shenbagaraj Kannapiran; Sreenithy Chandran; Suren Jayasuriya; Spring Berman (IROS, 2024)

GAN-Based Domain Adaptation for Creating Digital Twins of Small-Scale Driving Testbeds: Opportunities and Challenges. - Sangeet Sankaramangalam Ulhas; Shenbagaraj Kannapiran; Spring Berman (IV, 2024)

Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles. - Hamed Farivarnejad; Amir Salimi Lafmejani; Spring Berman (Autom., 2024)

A Survey on Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms. - Armin Mokhtarian; Jianye Xu; Patrick Scheffe; Maximilian Kloock; Simon Schäfer; Heeseung Bang; Viet-Anh Le; Sangeet Sankaramangalam Ulhas; Johannes Betz; Sean Wilson; Spring Berman; Liam Paull; et al. (CoRR, 2024)

Density Stabilization Strategies for Nonholonomic Agents on Compact Manifolds. - Karthik Elamvazhuthi; Spring Berman (IEEE Trans. Autom. Control., 2024)

Robust optimal density control of robotic swarms. - Carlo Sinigaglia; Andrea Manzoni; Francesco Braghin; Spring Berman (Autom., 2025)