Control Barrier Function Based Decentralized UAV Swarm Navigation While Preserving Connectivity Without Explicit Communication. - Thiviyathinesvaran Palani; Hiroaki Fukushima; Shunsuke Izuhara (ACC, 2023)

Collision Avoidance Control for Distributed Multi-Robot Systems Using Collision Cones and CBF-Based Constraints. - Thiviyathinesvaran Palani; Hiroaki Fukushima; Shunsuke Izuhara (CCTA, 2024)

Connectivity preserving decentralized UAV swarm navigation in obstacle-laden environments without explicit communication. - Thiviyathinesvaran Palani; Hiroaki Fukushima; Shunsuke Izuhara (Adv. Robotics, 2025)

Collision avoidance control of multiple UAVs using collision cones and control barrier functions. - Thiviyathinesvaran Palani; Supuni Wijesundera; Hiroaki Fukushima (Artif. Life Robotics, 2025)