Publications

Journal Articles | Book Chapters | Conference Papers | Theses

Journal Articles

  1. Z. Wang, F. Cladera Ojeda, A. Bisulco, D. Lee, C. J. Taylor, K. Daniilidis, M. A. Hsieh, and V. Isler. “EV-Catcher: High Speed Object Catching Using Low-latency Event-based Neural Networks,” in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 8737-8744, Jul 2022,
    https://doi.org/10.1109/LRA.2022.3188400
  2. S. Manjanna, M. A. Hsieh, G. Dudek. “Scalable Multi-Robot System for Non-myopic Spatial Sampling,” submitted to Autonomous Robots, Under Review, on arXiv https://arxiv.org/pdf/2105.10018.
  3. T. Salam and M. A. Hsieh. “Heterogeneous robot teams for modeling and prediction of multiscale environmental processes,” in Autonomous Robots, pp.1-24, Apr 2023,
    https://doi.org/10.1007/s10514-023-10089-6
  4. K. Y. Chee, T. Z. Jiahao and M. A. Hsieh. “KNODE-MPC: A Knowledge-Based Data-Driven Predictive Control Framework for Aerial Robots,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2819-2826, Apr 2022, https://doi.org/10.1109/LRA.2022.3144787.
  5. T. Salam, V. Edwards, and M. A. Hsieh. “Learning and Leveraging Features in Flow-Like Environments to Improve Situational Awareness,” in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2071-2078, Apr 2022, https://doi.org/10.1109/LRA.2022.3141762.
  6. T. Z. Jiahao, M. A. Hsieh, and E. Forgoston. “Knowledge-based learning of nonlinear dynamics and chaos,” in Chaos 31(11), Nov 2021, https://doi.org/10.1063/5.0065617.
  7. X. Yu, D. Saldana, D. Shishika, and M. A. Hsieh.“Resilient Consensus in Robot Swarms with Periodic Motion and Intermittent Communication,” in IEEE Transactions on Robotics and Automation (T-RO), 38(1), Jul 2021, https://doi.org/10.1109/TRO.2021.3088765.
  8. J. Hindes, V. Edwards, M. A. Hsieh, and I. B. Schwartz. “Critical transition for colliding swarms,” in Phys. Rev. E, 103, 062602 (2021), https://doi.org/10.1103/PhysRevE.103.062602.
  9. D. Saldana, R. Assuncao, M. A. Hsieh, M. F. M. Campos, and Vijay Kumar. “Estimating Boundary Dynamics Using Robotic Sensor Networks with Pointwise Measurements,” in Autonomous Robots, 45, 193–208 (2021), https://doi.org/10.1007/s10514-020-09954-5.
  10. M. Qraitem, D. Kularatne, E. Forgoston, and M. A. Hsieh. “Bridging the Gap: Machine Learning to Resolve Improperly Modeled Dynamics,” in Physica D: Nonlinear Phenomena, 414, 132736 (Dec 2020), https://doi.org/10.1016/j.physd.2020.132736.
  11. V. Edwards, P. deZonia, M. Ani Hsieh, J. Hindes, I. Triandaf, I. B. Schwartz. “Delay Induced Swarm Pattern Bifurcations in Mixed Reality Experiments,” in Chaos, 30, 073126 (2020), https://doi.org/10.1063/1.5142849.
  12. I. B. Schwartz, V. Edwards, S. Kamimoto, K. Kasraie, M. A. Hsieh, I. Triandaf, and J. Hindes,.  “Torus bifurcations of large-scale swarms having range dependent communication delay” Chaos 30, 051106 (2020); https://doi.org/10.1063/5.0006540.  Bibtex | PDF
  13. X. Yu and M. A. Hsieh, “Synthesis of a Time-Varying Communication Network by Robot Teams with Information Propagation Guarantees”, IEEE Robotics and Automation Letters (RA-L), 5(2), pp.1413 – 1420, with presentation at the International Conference on Robotics and Automation (ICRA 2020),
    https://doi.org/10.1109/LRA.2020.2967704
  14. X. Yu, M. A. Hsieh, C. Wei and H. G. Tanner, “Synchronous Rendezvous for Networks of Marine Robots in Large Scale Ocean Monitoring”, Frontiers in Robotics and AI 6 (2019): 76
  15. D. Kularatne, M. A. Hsieh, and E. Forgoston.  “Using Control to Shape Stochastic Escape and Switching Dynamics,” Chaos 29, 053128 (2019); https://doi.org/10.1063/1.5090113.  Bibtex | PDF
  16. D. Saldana, R. Assuncao, M. A. Hsieh, M. F. M. Campos, and Vijay Kumar. “Estimating Boundary Dynamics Using Robotic Sensor Networks with Pointwise Measurements,” submitted to Autonomous Robots, Under Review.  Bibtex | PDF
  17. T. Salam and M. A. Hsieh. “Adaptive Sampling and Reduced Order Modeling of Dynamic Processes by Robot Teams,” IEEE Robotics and Automation Letters (RA-L), 4(2), Apr 2019, pp.  477-484. Bibtex | PDF
  18. Digani, M. A. Hsieh, L. Sabattini, and C. Secchi. “Coordination of multiple AGVs: a Quadratic Optimization Method,” Autonomous Robots: Special Issue on Distributed Robots: From Fundamentals to Applications, 43(3), Mar 2019, pp. 539 – 555. Bibtex
  19. D. Kularatne, S. Bhattacharya, and M. A. Hsieh. “Going With The Flow: A Graph Based Approach to Optimal Path Planning in General Flows,” Autonomous Robots: RSS 2016 Special Issue, 42(7), Oct 2018, pp 1369 — 1387. Bibtex
  20. S. Das, E. B. Steager, M. A. Hsieh, K. J. Stebe, and V. Kumar. “Modelling and Simultaneous Control of Multiple Catalytic Microrobots,” in J. of Micro-Bio Robotics, 14(1-2), Jun 2018, pp. 25-34.  Bibtex
  21. M. Kennedy III, D. Thakur, M. A. Hsieh, S. Bhattacharya, and V. Kumar. “Optimal Paths for Polygonal Robots in SE(2),” Journal of Mechanisms and Robotics, 10(2), Feb 2018. Bibtex
  22. D. Kularatne, S. Bhattacharya, and M. A. Hsieh. “Optimal Path Planning in Time-Varying Flows using Adaptive Discretization,” IEEE Robotics and Automation Letters (RA-L), 3(1), Jan 2018, pp. 458-465.  Bibtex | PDF
  23. D. Kularatne and M. A. Hsieh. “Tracking Attracting Manifolds in Flows,” Autonomous Robots, 41(8), Mar 2017, pp. 1575–1588. Bibtex | PDF
  24. H. Hajieghrary, D. C. Mox, and M. A. Hsieh. “Information Theoretic Source Seeking Strategies for Multiagent Plume Tracking in Turbulent Fields,” Journal of Marine Science & Engineering SI on Autonomous Underwater Robotics for Mapping, Monitoring, Intervening with, and Tracking Dynamic Events and Targets, 5(3), Jan 2017. Bibtex | PDF
  25. A. Prorok, M. A. Hsieh, and V. Kumar. “The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms,” IEEE Trans. on Robotics, PP(99), pp. 1 – 13, Jan 2017. Bibtex | PDF
  26. H. Hajieghrary, M. A. Hsieh, and I. B. Schwartz. “Multi-Agent Search for Source Localization in a Turbulent Medium,” Physics Letters A, Vol. 380, No. 20, Apr 2016, pp. 1698 – 1705. Bibtex | PDF
  27. K. Szwaykowska, I. B. Schwartz, L. Mier-y-Teran Romero, C. R. Heckman, D. C. Mox, and M. A. Hsieh. “Collective motion patterns of swarms with delay coupling: Theory and experiment,” Physical Review E, Vol. 93, No. 3, Mar 2016. Bibtex | PDF
  28. H. Hajieghrary and M. Ani Hsieh. “Dynamic Adaptive Robust Backstepping Control Design for an Uncertain Linear System,” ASME Journal of Dynamic Systems, Measurement and Control: Special Issue on Stochastic Models, Control, and Algorithms in Robotics, 138(7), pp. 071004–071004–8, Mar 2016. Bibtex | PDF
  29. A. Prorok, M. A. Hsieh, and V. Kumar. “Adaptive Distribution of a Swarm of Heterogeneous Robots,” Acta Polytechnica, 56(1), 2016. Bibtex | PDF
  30. C. Heckman, M. A. Hsieh, and I. B. Schwartz. “Toward Efficient Navigation in Uncertain Gyre-Like Flows,” International Journal of Robotics Research: Special Issue on ISER 2014, Jul 2015. Bibtex | PDF
  31. C. Heckman, M. A. Hsieh, and I. B. Schwartz. “Going with the flow: enhancing stochastic switching rates in multi-gyre systems,” ASME Journal of Dynamic Systems, Measurement and Control: Special Issue on Stochastic Models, Control, and Algorithms in Robotics, Vol. 137, Mar 2014. Bibtex
  32. M. Michini, M. Ani Hsieh, E. Forgoston, and I. B. Schwartz. “Robotic Tracking of Coherent Structures in Flows,” IEEE Trans. on Robotics, Vol. 30, No. 3, 593-603, Jun 2014. Bibtex | PDF
  33. T. W. Mather and M. A. Hsieh. “Synthesis and Analysis of Distributed Ensemble Control Strategies for Allocation to Multiple Tasks,” Robotica: Special Issue on DARS 2012, Vol. 32, 2, 2014. Bibtex | PDF
  34. J. Worcester, M. A. Hsieh, and R. Lakaemper. “Distributed Assembly with Online Workload Balancing and Visual Error Detection and Correction,” Int. Journal of Robotics Research: Special Issue on ISER 2012 Conference, 2014. Bibtex | PDF
  35. K. Mallory, M. A. Hsieh, E. Forgoston, and I. B. Schwartz. “Distributed Allocation of Mobile Sensing Swarms in Gyre Flows,” in Nonlin. Processes Geophys., Vol. 20, No. 5, 657-668, 2013. Bibtex | PDF
  36. T. W. Mather and M. A. Hsieh. “Macroscopic Modeling of Stochastic Deployment Policies with Time Delays for Robot Ensembles,” Int. Journal of Robotics Research: Special Issue on Stochasticity in Robotics & Biological Systems, Part 1, 1 Apr 2011, Vol. 30, No. 5. Bibtex | PDF
  37. S. Berman, A. Halasz, M. A.Hsieh, and V. Kumar. “Optimal Stochastic Policies for Task Allocation in Swarms of Robots,” Trans. on Robotics, Vol 25, Issue 4, IEEE Transactions on Robotics, pp. 927-937, 2009. Bibtex | PDF
  38. J. Derenick, J. Spletzer and M. A. Hsieh. “An Optimal Approach to Collaborative Target Tracking with Performance Guarantees,” Journal of Intelligent and Robotic Systems, Vol 56, No. 1-2, pp 47-67, 2009. Bibtex | PDF
  39. M. A. Hsieh, A. Halasz, S. Berman, and V. Kumar. “Biologically Inspired Redistribution of a Swarm of Robots Among Multiple Sites,” Swarm Intelligence, Vol. 2, No. 2-4, Dec 2008, pp 121-141. Bibtex | PDF
  40. M. A. Hsieh, V. Kumar and L. Chaimowicz. “Decentralized Controllers for Shape Generation with Robotic Swarms,” Robotica, Vol. 26, Issue 5, Sep 2008, pp 691-701. Bibtex | PDF
  41. M. A. Hsieh, A. Cowley, V. Kumar and C.J. Taylor. “Maintaining Network Connectivity and Performance in Robot Teams,”  Journal of Field Robotics, Vol. 26, Issue 1-2, Jan 2008, pp 111-131. Bibtex | PDF
  42. M. A. Hsieh, L. Chaimowicz, A. Cowley, B. Grocholsky, J. F. Keller, V. Kumar, C. J. Taylor, Y. Endo, R. C. Arkin, B. Jung, D. F. Wolf, G. Sukhatme, and D. C. MacKenzie. “Adaptive Teams of Autonomous Aerial and Ground Robots for Situational Awareness,”  Journal of Field Robotics, Vol. 24, Issue 11-12, Nov 2007, pp 991-1014. Bibtex | PDF

Books and Book Chapters

  1. T. Salam, D. Kularatne, E. Forgoston, and M. A. Hsieh. “Adaptive Sampling and Energy Efficient Navigation in Time-Varying Flows,” in Autonomous Underwater Vehicles: Design and Practice, eds. F. Ehlers, The Institution of Engineering and Technology, 2020, eISBN: 978-1-78561-704-1. PDF
  2. M. A. Hsieh, O. Khatib, and V. Kumar (Eds.). The 14th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, Vol 109, Springer 2015. PDF
  3. M. A. Hsieh and G. Chirikjian (Eds.). The 11th International Symposium on Distributed Autonomous Robotic Systems, Springer Tracts in Advanced Robotics, Vol 104, Springer 2014.
  4. M. A. Hsieh and T. W. Mather. “Robustness in the Presence of Task Differentiation in Robot Ensembles,” in Redundancy in Robot Manipulators and Multi-Robot Systems, eds. D. Milutinovic and J. Rosen, Springer Berlin Heidelberg 2013.
  5. S. Berman, A. Halasz, and M. A. Hsieh. “Ant-Inspired Allocation: Top-Down Controller Design for Distributing a Robot Swarm Among Multiple Tasks,” in Bio-inspired Computing and Communication Networks, eds. Y. Xiao and F. Hu, Auerbach Publications, CRC Press 2008. PDF

Refereed Conference Papers

  1. S. Chen, K. Y. Chee, N. Matni, M. A. Hsieh, G. J. Pappas. “A Safety Filter for the Control of Learning-Enabled Systems via Robust Linear Model Predictive Control,” submitted to the 62nd IEEE Conference on Decision and Control, Singapore, Dec. 2023, Under Review
  2. K. Y. Chee, M. A. Hsieh, and G. J. Pappas. “Uncertainty Quantification for Learning-based MPC using Weighted Conformal Prediction,” submitted to the 62nd IEEE Conference on Decision and Control, Singapore, Dec. 2023, Under Review
  3. T. C. Silva and M. A. Hsieh. “Local Input-to-State Stability for Consensus in the Presence of Intermittent Communication and Input Saturation,” submitted to the 62nd IEEE Conference on Decision and Control, Singapore, Dec. 2023, Under Review
  4. K. Y. Chee, T. C. Silva, M. A. Hsieh, and G. J. Pappas. “Enhancing Sample Efficiency and Uncertainty Compensation in Learning-based Model Predictive Control for Aerial Robots,” submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI USA, Oct 2023, Under Review.
  5. V. Edwards, T. C. Silva, B. Mehta, J. Dhanoa, and M. A. Hsieh. “On Collaborative Robot Teams for Environmental Monitoring: A Macroscopic Ensemble Approach,” submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI USA, Oct 2023, Under Review.
  6. S. Manjanna, T. Z. Jiahao, and M. A. Hsieh. “Leveraging Predictive Models for Adaptive Sampling of Spatiotemporal Fluid Processes,” submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI USA, Oct 2023, Under Review
  7. A. Mansfield, D. G. Macharet, and M. A. Hsieh. “Energy-efficient Team Orienteering Problem in the Presence of Time-Varying Ocean Currents,” submitted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI USA, Oct 2023, PDF
  8. T. Salam, A. K. Li, and M. A. Hsieh. “Online Estimation of the Koopman Operator Using Fourier Features,” accepted to the 5th Annual Learning for Dynamics & Control Conference, Philadelphia, PA USA, Jun 2023. https://arxiv.org/pdf/2212.01503.pdf
  9. K. Y. Chee, M. A. Hsieh, and N. Matni. “Learning-enhanced Nonlinear Model Predictive Control using Knowledge-based Neural Ordinary Differential Equations and Deep Ensembles,” accepted to 5th Annual Learning for Dynamics & Control Conference, Philadelphia, PA USA, Jun 2023. PDF
  10. G. Knizhnik, P. Li, M. Yim, and M. A. Hsieh. “Flow-Based Rendezvous and Docking for Marine Modular Robots in Gyre-Like Environments,” accepted to IEEE International Conference on Robotics and Automation (ICRA2023), London, England United Kingdom, May 2023. PDF
  11. K. Y. Chee and M. A. Hsieh. “LEARNEST: LEARNing Enhanced Model-based State ESTimation for Robots using Knowledge-based Neural Ordinary Differential Equations,” accepted to IEEE International Conference on Robotics and Automation (ICRA2023), London, England United Kingdom, May 2023. https://arxiv.org/pdf/2209.08185.pdf
  12. K. Mao, J. Welde, M. A. Hsieh, and V. Kumar. “Trajectory Planning for the Bidirectional Quadrotor as a Differentially Flat Hybrid System,” accepted to IEEE International Conference on Robotics and Automation (ICRA2023), London, England United Kingdom, May 2023
  13. T. Z. Jiahao, K. Y. Chee, and M. A. Hsieh. “Online Dynamics Learning for Predictive Control with an Application to Aerial Robots,” in the Proc. of the 6th Annual Conference on Robot Learning (CoRL 2022), Auckland, New Zealand, Dec 2022, PDF
  14. A. K. Li, Y. Mao, S. Manjanna, S. Liu, J. Dhanoa, B. Mehta, V. M. Edwards, F. Cladera Ojeda, M. A Hsieh, M. Le Men, E. Sigg, D. J. Jerolmack, and H. N. Ulloa, “Towards Understanding Underwater Weather Events in Rivers Using Autonomous Surface Vehicles,” in the Proc. of OCEANS 2022, Hampton Roads, Hampton Roads, VA, USA, 2022, pp. 1-8, https://doi.org/10.1109/OCEANS47191.2022.9977236.
  15. T. C. Silva, L. Shen, X. Yu, and M. A. Hsieh. “Receding Horizon Control on the Broadcast of Information in Stochastic Networks,” in the Proc. of the 16th International Symposium on Distributed Autonomous Robotic Systems 2022 (DARS 2022), Montbeiard, France, Nov 2022. https://arxiv.org/pdf/2212.09808.pdf
  16. T. C. Silva, V. Edwards, and M. A. Hsieh. “Proportional Control for Stochastic Regulation on Allocation of Multi-Robots,” in the Proc. of the 16th International Symposium on Distributed Autonomous Robotic Systems 2022 (DARS 2022), Montbeiard, France, Nov 2022. https://arxiv.org/pdf/2212.09816.pdf
  17. L. Pan, S. Manjanna, and M. A. Hsieh. “MARLAS: Multi Agent Reinforcement Learning for cooperated Adaptive Sampling,” in the Proc. of the 16th International Symposium on Distributed Autonomous Robotic Systems 2022 (DARS 2022), Montbeiard, France, Nov 2022. https://arxiv.org/pdf/2207.07751.pdf
  18. V. Edwards, T. C. Silva, and M. A. Hsieh. “Stochastic Nonlinear Ensemble Modeling and Control for Robot Team Environmental Monitoring,” in the Proc. of the 16th International Symposium on Distributed Autonomous Robotic Systems 2022 (DARS 2022), Montbeiard, France, Nov 2022. https://arxiv.org/pdf/2212.11447.pdf
  19. A. Kumar, A. Davatzes, T. F. Shipley, and M. A. Hsieh. “LIDAR SLAM-Based Dense Reconstructions of Natural Environments: Field Evaluations,” 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Sevilla, Spain, 2022, pp. 116-121, https://doi.org/10.1109/SSRR56537.2022.10018616
  20. Kenneth Chaney, Fernando Cladera, Ziyun Wang, Anthony Bisulco, M. Ani Hsieh, Christopher Korpela, Vijay Kumar, Camillo J. Taylor, and Kostas Daniilidis. “M3ED: Multi-Robot, Multi-Sensor, Multi-Environment Event Dataset,” accepted to IEEE Conference on Computer Vision and Patter Recognition (CVPR) Workshops, Jun 2023, pp. 4015-4022. PDF
  21. A. Mansfield, D. G. Macharet, and M. A. Hsieh. “Energy-efficient Orienteering Problem in the Presence of Ocean Currents,” submitted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Kyoto, Japan, Oct 2022.
  22. Y. Wu, T. Z. Jiahao, J. Wang, P. A. Yushkevich, M. A. Hsieh, J. C. Gee. “NODEO: A Neural Ordinary Differential Equation Based Optimization Framework for Deformable Image Registration,” accepted to IEEE Conference on Computer Vision and Pattern Recognition, Jun 2022, New Orleans, LA USA, https://arxiv.org/pdf/2108.03443.
  23. L. Shen, X. Yu, and M. A. Hsieh. “Topology Control of a Periodic Time-varying Communication Network with Stochastic Temporal Links,” accepted to the 2022 IEEE American Control Conference (ACC 2022), Altanta, GA USA, Jul 2022.
  24. G. Knizhnik, P. Li, X. Yu, and M. A. Hsieh. “Flow-Based Control of Marine Robots in Gyre-Like Environments,” accepted to IEEE International Conference on Robotics and Automation (ICRA2022), May 2022, Philadelphia, PA USA, https://arxiv.org/pdf/2203.00796.
  25. T. Z. Jiahao, L. Pan, and M. A. Hsieh. “Learning to Swarm with Knowledge-Based Neural Ordinary Differential Equations,” accepted to IEEE International Conference on Robotics and Automation (ICRA2022), May 2022, Philadelphia, PA USA, https://arxiv.org/pdf/2109.04927.
  26. A. Mansfield, S. Manjanna, D. G. Macharet, and M. A. Hsieh. “Multi-robot Scheduling for Environmental Monitoring as a Team Orienteering Problem,” in the Prof. of the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 6398-6404, https://doi.org/10.1109/IROS51168.2021.9636854.
  27. K. Y. Chee and M. A. Hsieh, “Augmenting Coverage Control with Robot-Environment Dependency for Multi-Robot Systems,” 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Abu Dhabi, United Arab Emirates, 2020, pp. 260-267. Bibtex | PDF | Video
  28. H. Rovina, T. Salam, Y. Kantaros, and M. Ani Hsieh. “Asynchronous Adaptive Sampling and Reduced-Order Modeling of Dynamic Processes by Robot Teams via Intermittently Connected Networks,” submitted to the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV USA Bibtex | PDF
  29. A. Mansfield, D. Kularatne, E. Steager, and M. A. Hsieh, “A Topological Approach to Path Planning for a Magnetic Millirobot,” Submitted to Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), Oct 2020, Las Vegas, NV. Bibtex | PDF
  30. X. Yu, D. Shishika, D. Saldana and M. A. Hsieh, “Modular Robot Formation and Routing for Resilient Consensus”, accepted, IEEE American Control Conference (ACC 2020), Jul 2020. Bibtex | PDF
  31. C. Wei, H. G. Tanner, and M. A. Hsieh. “Nonlinear Synchronization Control for Short-Range Mobile Sensors Drifting in Geophysical Flows,” in the Proc. of the 2020 IEEE International Conference on Robotics and Automation (ICRA2020), Jun 2020 (Virtual).
  32. D. Shishika, J. Paulos, M. A. Hsieh, and V. Kumar.  “Team Composition for Perimeter Defense with Patrollers and Defenders,” submitted to 58th Conference on Decision and Control (CDC2019), Dec 2019, Nice, France. Bibtex | PDF
  33. C. Wei, H. G. Tanner, X. Yu, and M. A. Hsieh. “Low-Range Interaction Periodic Rendezvous Along Lagrangian Coherent Structures,” accepted to the 2019 American Control Conference (ACC2019), Jul 2019, Philadelphia, PA USA.  Bibtex | PDF
  34. C. Wei, X. Yu, H. G. Tanner, and M. A. Hsieh. “Synchronous Rendezvous for Networks of Active Drifters in Gyre Flows,” in the Proc. of the International Symposium on Distributed Autonomous Robotic Systems (DARS2018), Oct 2018, Boulder, CO USA. Bibtex | PDF
  35. H. Liu and M. A. Hsieh. “Neural Network Aided Information Theoretic Exploration,” in the Proc. of the 2018 IEEE Symposium on Safety, Security, and Rescue Robotics, Aug 2018, Philadelphia, PA USA. Bibtex | PDF
  36. D. Kularatne, E. Forgoston, and M. A. Hsieh. “Exploiting Stochasticity for Navigation in Gyre Flows,” in the Proc. of the 2018 Robotics: Science and Systems (RSS 2018), Jun 2018, Pittsburgh, PA USA. Bibtex | PDF
  37. H. Hajieghrary, D. Kularatne, and M. A. Hsieh. “Differential Geometric Approach to Trajectory Planning: Cooperative Transport by a Team of Autonomous Marine Vehicles,” in the Proc. of the 2018 IEEE American Control Conference, Jun 2018, Milwaukee, WI USA. Bibtex | PDF
  38. D. Kularatne, H. Hajieghrary, and M. A. Hsieh. “Optimal Path Planning in Time-Varying Flows with Forecasting Uncertainties,” in the Proc. of the 2018 IEEE International Conference on Robotics and Automation (ICRA2018), May 2018, Brisbane, Australia. Bibtex | PDF
  39. D. J. Saldana, R. Assuncao, M. A. Hsieh, M. M. Campos, and V. Kumar. “Cooperative Prediction of Time-Varying Boundaries with a Team of Robots,” in the Proc. of the 1st IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS’17), Los Angeles, CA, USA, Dec 2017. Bibtex | PDF
  40. H. Hajieghrary, D. Kularatne, and M. A. Hsieh. “Cooperative Transport of Buoyant Loads: A Differential Geometric Approach to Control Abstraction,” in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), Sep 2017, Vancouver, Canada. Bibtex | PDF
  41. F. Maushart, A. Prorok, M. A. Hsieh, and V. Kumar. “Intrusion Detection for Stochastic Task Allocation in Robot Swarms,” in the Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), Sep 2017, Vancouver, Canada. Bibtex | PDF
  42. M. Kennedy III, D. Thakur, S. Bhattacharya, M. A. Hsieh, and V. Kumar. “Optimal Paths for Polygonal Robots in SE(2),” in the Proc. of the  ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC 2017), Aug 2017, Cleveland, OH USA. Bibtex | PDF
  43. Daniel Mox, Anthony Cowley, M. Ani Hsieh, and C. J. Taylor. “Information Based Exploration with Panoramas and Angle Occupancy Grids,” in the Proc. of the International Symposium on Distributed Autonomous Robotic Systems (DARS 2016), Nov 2016, London, UK. BibTeX | PDF
  44. V. Edwards, L. Chaimowicz, M. A. Hsieh. “Segregation of Heterogeneous Robotic Swarms using Convex Optimization,” in the ASME Dynamic Systems and Control Conference, Oct 2016, Minneapolis, MN USA. Bibtex | PDF
  45. M. M. Zhang, M. Kennedy III, M. A. Hsieh, and K. Daniilidis. “A Triangle Histogram for Object Recognition by Tactile Sensing,” in the Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), Oct 2016, Daejeon, Korea. Bibtex | PDF
  46. K. Karydis and M. A. Hsieh. “Uncertainty Quantification for Control of Uncertain Systems Using Principal Orthogonal Decomposition,” in the Proc. of the 2016 International Symposium on Experimental Robotics (ISER 2016), Oct 2016, Tokyo, Japan. Bibtex | PDF
  47. D. Kularatne, S. Bhattacharya, M. A. Hsieh. “Time and Energy Optimal Path Planning on a Flow Field,” in the Proc. of the 2016 Robotics: Science and Systems (RSS2016), Jun 2016, Ann Arbor, MI USA. Bibtex | PDF
  48. A. Prorok, M. A. Hsieh, V. Kumar. “A Framework for Controlling Diversity to Maximize Performance in a Heterogeneous Swarm of Robots,” in the Proc. of the IEEE International Conference on Robotics and Automation (ICRA2016), May 2016, Stockholm, Sweden. Bibtex | PDF
  49. G. A. Sartoretti, S. Shaw, M. A. Hsieh. “Distributed Planar Manipulation in Fluidic Environments,” in the Proc. of the IEEE International Conference on Robotics and Automation (ICRA2016), May 2016, Stockholm, Sweden. Bibtex | PDF
  50. A. Prorok, M. A. Hsieh, V. Kumar. “A Fast Redistribution of a Swarm of Heterogeneous Robots,” Best Paper, in the 9th EAI International Conference on Bio-inspired Information and Communications Technologies (BICT 2015), Dec 2015, New York, NY USA. Bibtex | PDF
  51. A. Tohidi, H. Hajieghrary, and M. A. Hsieh. “Adaptive Disturbance Rejection Control Scheme for DFIG-Based Wind Turbine,” in the Proc. of the 2015 IEEE Industry Applications Society Annual Meeting, Oct 2015, Dallas, TX USA. Bibtex | PDF
  52. H. Hajieghrary, A. Fabregat Tomas, and M. A. Hsieh. “An Information Theoretic Source Seeking Strategy for Plume Tracking in 3D Turbulent Fields,” in the Proc. of the 2015 IEEE Symposium on Safety, Security, and Rescue Robotics, Oct 2015, West Lafayette, IN USA. Bibtex | PDF
  53. D. Heermance, D. Kularatne, J. D. Hernandez Sosa, M. A. Hsieh, and R. N. Smith. “Design and Validation of a micro-AUV for 3-D Sampling of Coherent Ocean Feature,” in the Proc. of OCEANS ’15 MTS/IEEE Washington, Oct 2015, Washington, DC USA. Bibtex | PDF
  54. M. Ani Hsieh, Hadi Hajieghrary, Dhanushka Kularatne, Eric Forgoston, Ira B. Schwartz, and Philip A. Yecko. “Small and Adrift with Self-Control: Using the Environment to Improve Autonomy,” in the Proceedings of the 2015 International Symposium on Robotics Research (ISRR), September 2015, Sestri Levante, Italy. BibTeX | PDF
  55. V. Digani, M. A. Hsieh, L. Sabattini, and C. Secchi. “A Quadratic Programming Framework for Coordinating Multi-AGV Systems,” accepted to the IEEE International Conference on Automation Science and Engineering (CASE2015), Aug 2015, Gothenburg, Sweden. BibTeX | PDF
  56. D. Kularatne and M. A. Hsieh. “Tracking Attracting Lagrangian Coherent Structures in Flows,” in the 2015 Robotics: Science and Systems (RSS 2015), July 2015, Rome, Italy. BibTeX | PDF
  57. D. Kularatne, R. N. Smith, and M. A. Hsieh. “Zig-Zag Wanderer: Towards Adaptive Tracking of Time-Varying Coherent Structures in the Ocean,” in the IEEE International Conference on Robotics and Automation
    (ICRA2015)    , May 2015, Seattle, WA USA. BibTeX | PDF
  58. M. Michini, M. A. Hsieh, E. Forgoston, and I. B. Schwartz, “Experimental Validation of Robotic Manifold Tracking in Gyre-Like Flows,” in the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’14), Sep 2014, Chicago, IL USA. BibTeX | PDF
  59. D. Larkin, M. Michini, A. Abad, S. Teleski, and M. A. Hsieh, “Design of the multi-robot Coherent Structure Testbed (mCoSTe) for Distributed Tracking of Geophysical Fluid Dynamics,” in the ASME International Design Engineering Technical Conferences (IDETC), Aug 2014, Buffalo, New York USA. BibTeX | PDF
  60. M. Michini, H. Rastgoftar, M. A. Hsieh, and S. Jayasuriya, “Distributed Formation Control for Collaborative Tracking of Manifolds in Flows,” in the 2014 American Control Conference (ACC 2014), Jun 2014, Portland, Oregon USA. BibTeX | PDF
  61. M. A. Hsieh, K. Mallory, E. Forgoston, and I. B. Schwartz, “Distributed Allocation of Mobile Sensing Agents in Geophysical Flows,” in the 2014 American Control Conference (ACC 2014), Jun 2014, Portland, Oregon USA. BibTeX | PDF
  62. M. Michini, K. Mallory, D. Larkin, M. A. Hsieh, E. Forgoston, and P. A. Yecko, “An Experimental Testbed for Multi-Robot Tracking of Manifolds and Coherent Structures in Flows,” accepted to the 2013 ASME Dynamic Systems and Control Conference, Oct 2013, Palo Alto, CA USA. BibTeX | PDF
  63. J. Milligan, M. A. Hsieh, and L. Chaimowicz, “Vision-Based Cooperative Localization for Small Networked Robot Teams,” in the Proc. of the 14th Towards Autonomous Robotic Systems (TAROS 2013), Aug 2013, Oxford, UK. BibTeX | PDF
  64. J. Worcester and M. A. Hsieh. “Task Partitioning via Ant Colony Optimization for Distributed Assembly,” in the Proc. of ANTS 2012: 8th Int. Conf. on Swarm Intelligence, Sep 2012, Brussels, Belgium. BibTeX | PDF
  65. T. W. Mather and M. A. Hsieh. “Ensemble Modeling and Control for Congestion Management in Automated Warehouses,” (Finalist, Best Student Paper), in the IEEE Int. Conf. on Automation Science & Engineering (CASE2012), August 2012, Seoul, Korea. BibTeX | PDF
  66. P. Abichandani, K. Mallory, and M. A. Hsieh, “Experimental Multi-Vehicle Path Coordination under Communication
    Connectivity Constraints,” in the Proc. of the 13th International Symposium on Experimental Robotics
    (ISER2012)    , Jun 2012, Quebec City, Quebec, Canada. BibTeX | PDF
  67. J.Worcester, R. Lakaemper, and M. A. Hsieh, “3-Dimensional Tiling for Distributed Assembly by Robot Teams,”
    in the Proc. of the 13th International Symposium on Experimental Robotics (ISER2012), Jun 2012, Quebec City,
    Quebec, Canada. BibTeX | PDF
  68. M. A. Hsieh, E. Forgoston, T. W. Mather, and I. Schwartz. “Robotic Manifold Tracking of Coherent Structures in Flows,” in the Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA2012), May 2012, St. Paul, MN USA. BibTeX | PDF
  69. T. W. Mather and M. A. Hsieh. “Ensemble Synthesis of Distributed Control and Communication,” in the Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA2012), May 2012, St. Paul, MN USA. BibTeX | PDF
  70. J. Worcester, J. Rogoff, and M. A. Hsieh. “Constrained Task Partitioning for Distributed Assembly,” in the Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’11), Sep 2011, San Francisco, CA USA. BibTeX | PDF
  71. T. W. Mather and M. A. Hsieh. “Distributed Robot Ensemble Control for Deployment to Multiple Sites,” in the Proc. of the 2011 Robotics: Science and Systems Conference, Jun-Jul 2011, Los Angeles, CA USA. BibTeX | PDF
  72. T. W. Mather, C. Braun, and M. A. Hsieh. “Distributed Filtering for Time-Delayed Deployment to Multiple Sites,” in the Proc. of the 10th Int. Symposium on Distributed Autonomous Robotics Systems , Nov 2010, Lausanne, Switzerland. BibTeX | PDF
  73. M. A. Hsieh and J. Rogoff. “Complexity Measures for Distributed Assembly Tasks,” in the Proc. of the 2010 Performance Metrics for Intelligent Systems Workshop (PerMIS’09), Baltimore, MD USA, Sep 2010. BibTeX | PDF
  74. T. W. Mather, M. A. Hsieh, and E. Frazzoli. “Towards Dynamic Team Formulation for Robot Ensembles,” in the Proc. of the 2010 IEEE Int. Conf. on Robotics & Automation (ICRA’09), Anchorage, AK USA, May 2010. BibTeX | PDF
  75. A. Cowley, M. A. Hsieh, and C. J. Taylor. “Development of Top-Down Analysis of Distributed Assembly Tasks,” in the Proc. of the 2009 Performance Metrics for Intelligent Systems Workshop (PerMIS’09), Washington, DC, USA, Sep 2009. BibTeX | PDF
  76. M. A. Hsieh, A. Halasz, E. D. Cubuk, S. Schoenholz, and A. Martinoli. “Specialization as an Optimal Strategy Under Varying External Conditions,” in the Proc. of the 2009 IEEE Int. Conf. on Robotics & Automation (ICRA’09), Kobe, Japan, May 2009. BibTeX | PDF
  77. S. Berman, A. Halasz, M. A. Hsieh, and V. Kumar. “Navigation-Based Optimization of Stochastic Deployment Strategies for a Robot Swarm to Multiple Sites,” in the Proc. of the 2008 IEEE Conf. on Decision & Control (CDC’08), Cancun, Mexico. BibTeX | PDF
  78. J. Fink, M. A. Hsieh, and V. Kumar. “Multi-Robot Manipulation via Caging in Environments with Obstacles,” in the Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA’08), Pasedena, CA USA, May 2008. BibTeX | PDF
  79. J. Derenick, J. Spletzer and M. A. Hsieh. “A Graph Theoretic Approach to Optimal Target Tracking for Mobile Robot Teams,” in the Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (IROS’07), San Diego, CA USA, Oct 2007. BibTeX | PDF
  80. A. Halasz, M. A. Hsieh, S. Berman, and V. Kumar. “Dynamic Redistribution of a Swarm of Robots Among Multiple Sites,” in the Proc. IEEE/RSJ Int. Conf. on Intelligent Robots & Systems (IROS’07), San Diego, CA USA, Oct 2007. BibTeX | PDF
  81. M. A. Hsieh, S. Loizou and V. Kumar. “Stabilization of Multiple Robots on Stable Orbits via Local Sensing,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’07), Rome, Italy, May 2007. BibTeX | PDF
  82. M. A. Hsieh and V. Kumar. “Pattern Generation with Multiple Robots,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’06), Orlando, FL USA, May 2006. BibTeX | PDF
  83. M. A. Hsieh, A. Cowley, V. Kumar, and C.J. Taylor. “Towards the Deployment of a Mobile Robot Network with End-to-End Performance Guarantees,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’06), Orlando, FL USA, May 2006. BibTeX | PDF
  84. L. Chaimowicz, A. Cowley, D. Gomez-Ibanez, B. Grocholsky, M. A. Hsieh, H. Hsu, J. F. Keller, V. Kumar, R. Swaminathan, and C. J. Taylor. “Deploying Air-Ground Multi-Robot Teams in Urban Environments,” in the Proc. of the 2005 Int. Workshop on Multi-Robot Systems, pp. 223-234, Washington, DC USA, Mar 2005. BibTeX | PDF
  85. M. A. Hsieh, P. Srivastava, V. Kumar and C.J. Taylor. “Composable Communication Constraint Based Control,” in the Proc. SPIE Optics East 2004, Philadelphia, PA USA, Oct 2004. BibTeX | PDF available upon request.
  86. M. A. Hsieh, V. Kumar and C.J. Taylor. “Constructing Radio Signal Strength Maps with Multiple Robots,” in the Proc. IEEE Int. Conf. on Robotics & Automation (ICRA’04), pp. 4184-4189, New Orleans, LA USA, Apr 2004. BibTeX | PDF

Theses

  1. M. Ani Hsieh, Motion Control Strategies for Networked Robot Teams in Environments with Obstacles, 2007.