Publications

Journal Articles | Book Chapters | Conference Papers | Theses

Journal Articles

  1. T. Salam, M.A. Hsieh. “Adaptive Sampling and Reduced Order Modeling of Dynamic Processes by Robot Teams,” IEEE Robotics and Automation Letters (RA-L), 4(2), April 2019, pp.  477-484 Bibtex | PDF
  2. V. Digani, M. A. Hsieh, L. Sabattini, and C. Secchi. “Coordination of multiple AGVs: a Quadratic Optimization Method,” submitted to Autonomous Robots: Special Issue on Distributed Robots: From Fundamentals to Applications, Under Review. Bibtex | PDF
  3. D. Kularatne, S. Bhattacharya, and M. A. Hsieh. “Going With The Flow: A Graph Based Approach to Optimal Path Planning in General Flows,” submitted to Autonomous Robots: RSS 2016 Special Issue, Under Review. Bibtex | PDF
  4. M. Kennedy III, D. Thakur, M. A. Hsieh, S. Bhattacharya, and V. Kumar. “Optimal Paths for Polygonal Robots in SE(2),” submitted to Journal of Mechanisms and Robotics, Accepted for Publication. Bibtex | PDF
  5. 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
  6. D. Kularatne and M. A. Hsieh. “Tracking Attracting Manifolds in Flows,” Autonomous Robots, 41(8), Mar 2017, pp. 1575–1588. Bibtex | PDF
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. A. Prorok, M. A. Hsieh, and V. Kumar. “Adaptive Distribution of a Swarm of Heterogeneous Robots,” Acta Polytechnica, 56(1), 2016. Bibtex | PDF
  13. 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
  14. 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 | PDF
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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

Book Chapters

  1. 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.
  2. 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.

Refereed Conference Papers

  1. 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
  2. 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
  3. 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
  4. 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
  5. 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
  6. 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
  7. 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
  8. 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
  9. 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
  10. 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
  11. 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
  12. 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
  13. 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
  14. 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
  15. 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
  16. 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
  17. 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
  18. 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
  19. 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
  20. 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
  21. 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
  22. 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
  23. 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
  24. 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
  25. 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
  26. 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
  27. 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
  28. 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
  29. 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
  30. 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
  31. 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
  32. 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
  33. 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
  34. 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
  35. 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
  36. 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
  37. 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
  38. 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
  39. 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
  40. 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
  41. 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
  42. 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
  43. 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
  44. 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
  45. 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
  46. 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
  47. 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
  48. 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
  49. 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
  50. 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
  51. 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
  52. 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.
  53. 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.