Publications

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Journal Papers & Referred Book Chapters

  1. D. Miklic, S. Bogdan, and R. Fierro “A grid-based approach for multi-robot formations,” European Journal of Control, September 2009. (In preparation)
  2. N. Bezzo, R. Fierro, A. Swingler, and S. Ferrari, "A disjunctive programming approach for motion planning of mobile router networks," International Journal of Robotics and Automation, August 2009. (Submitted)
  3. S. Commuri and R. Fierro (Eds.), "Special Issue on Unmanned Autonomous Vehicles," Journal of Intelligent Robotic Systems, vol. 56, no. 1-2, September 2009. [pdf]
  4. S. Ferrari, R. Fierro, B. Perteet, C. Cai, and K. Baumgartner, “A geometric optimization approach to detecting and intercepting dynamic targets using a mobile sensor network,” SIAM Journal on Control and Optimization Special Issue on Control and Optimization in Cooperative Networks, vol. 48, no.1, pp. 292-320, 2009. [pdf]
  5. F. Xie and R. Fierro, “Stabilization of nonholonomic robot formations: A first-state contractive model predictive control approach,” Journal of Computing and Information Technology, Special Issue on Advanced Mobile Robotics, vol. 17, no. 1, pp. 37-50, 2009.
  6. O. A.A. Orqueda, X. Zhang, and R. Fierro, “An output feedback nonlinear decentralized controller for unmanned vehicle coordination,” International Journal of Robust Nonlinear Control, vol. 17, no. 12, pp. 1106-1128, 2007. DOI: 10.1002/rnc.1167. Available on-line since January 2007.
  7. D. Cruz, J. McClintock, B. Perteet, O. Orqueda, Y. Cao, and R. Fierro, “Decentralized cooperative control: A multivehicle platform for research in networked embedded systems,” IEEE Control Systems Magazine, vol. 27, no. 3, pp. 58-78, June 2007. [pdf]
  8. J. Clark and R. Fierro, “Mobile robotic sensors for perimeter detection and tracking,” ISA Transactions, vol. 46, no. 1, pp. 3-13, 2007. 2007 ISA Transactions Best Paper Award [pdf]
  9. O. A.A. Orqueda and R. Fierro, “Model predictive path-space iteration for multirobot coordination,” in Cooperative Systems: Control and Optimization, D. Grundel, R. Murphey, P. Pardalos, and O. Prokopyev (eds.), Springer, Lecture Notes in Economics and Mathematical Systems, vol. 588, pp. 229-253, 2007.
  10. C. Branca and R. Fierro, "Hierarchical optimization strategies for deployment of mobile robots," International Journal of Intelligent Control and Systems, Special Issue on Swarm Robotics, vol. 11, no.3, pp. 141-153, September 2006.
  11. R. Fierro, L. Chaimowicz, and V. Kumar, “Multi-Robot Cooperation,” In Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, S. S. Ge and F. L. Lewis (eds.), CRC Press - Taylor & Francis Group, chapter 11, pp. 417-459, May 2006.
  12. R. Fierro and P. Song, "Coordination of Robot Teams: A Decentralized Approach," in Current Trends in Nonlinear Systems and Control: In honor of Petar Kokotovic and Turi Nicosia, L. Menini, L. Zaccarian, and C. T. Abdallah (eds.), Systems & Control: Foundations & Applications Series, pp. 447-463, Birkhäuser, 2005.
  13. R. Fierro, J. Clark, D. Hougen, and S. Commuri, "A multi-robot testbed for biologically-inspired cooperative control," in Multi-Robot Systems. From Swarms to Intelligent Automata, Volume III, L. E. Parker, F. E. Schneider, and A. C. Schultz (eds.), Springer, pp. 171-182, 2005.
  14. R. Fierro and K. Wesselowski, "Optimization-based control of multi-vehicle systems," in A Post-Workshop Volume 2003 Block Island Workshop on Cooperative Control Series, V. Kumar, N.E. Leonard, and A.S. Morse (eds.), Springer-Verlag, Lecture Notes in Control and Information Sciences , Vol. 309, pp. 63-78, 2005.
  15. R. Fierro and A. K. Das, "On dynamic reconfiguration of multi-robot formations," in Multi-Robot Systems: From Swarms to Intelligent Automata, A. C. Schultz, L. E. Parker, and F. E. Schneider (eds.), Kluwer Academic Publishers, vol. 2, pp. 299-300, March 2003.
  16. A. K. Das, R. Fierro, and V. Kumar, "Control graphs for robot networks," in Cooperative Control: Models, Applications and Algorithms, S. Butenko, R. Murphey and P. Pardalos (eds.), Cooperative Systems, vol. 1, chapter 4, pp. 55-73, Kluwer Academic Publishers, January 2003.
  17. R. Fierro, A. Das, J. Spletzer, R. Alur, J. Esposito, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall and C. J. Taylor, "A framework and architecture for multi-robot coordination," The International Journal of Robotics Research, vol. 21, no.10-11, pp. 977-995, Oct-Nov 2002.
  18. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control framework," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 813-825, Oct. 2002.
  19. R. Fierro, P. Song, A. Das, and V. Kumar, "Cooperative control of robot formations," in Cooperative Control and Optimization, R. Murphey and P. Pardalos (eds.), Applied Optimization, vol. 66, chapter 5, pp. 73-93, Kluwer Academic Publishers, 2002.
  20. R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," Embedded Software, T. A. Henzinger and C. M. Kirsch (eds.), LNCS 2211, Springer, pp. 14-31, 2001.
  21. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Experimental Robotics VII, D. Rus and S. Singh (eds.), Springer, LNCIS 271, pp. 303-312, 2001.

Conference Proceedings

  1. N. Bezzo and R. Fierro, “Coordination of mobile routers,” September 2009. (In preparation)
  2. S. Ferrari, R. Fierro, and D. Tolic, “A geometric optimization approach to tracking maneuvering targets using a heterogeneous mobile sensor network,” IEEE Conf. on Decision and Control & Chinese Control Conference (CDC/CCC), Shanghai, China, December 16-18, 2009. (To appear)
  3. P. Ng, D. Milkic, and R. Fierro, “A discrete grid abstraction for formation control in the presence of obstacles,” Workshop on Robots, Games, and Research: Success stories in USARSim, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 15 2009. (To appear)
  4. A. Cortez, R. Fierro, and J. Wood, “Prioritized sensor detection via dynamic Voronoi-based navigation,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009. (To appear)
  5. D. Miklic, S. Bogdan, and R. Fierro, “A discrete grid abstraction for formation control in the presence of obstacles,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009. (To appear)
  6. I. Palunko, R. Fierro, and C. Sultan, “Nonlinear modeling and output feedback control design for a small-scale helicopter,” 17th Mediterranean Conference on Control and Automation (MED’09), Thessaloniki, Greece, June 2009, pp. 1251-1256.
  7. D. Tolic, R. Fierro, and S. Ferrari, “Cooperative multi-target tracking via hybrid modeling and geometric optimization,” 17th Mediterranean Conference on Control and Automation (MED’09), Thessaloniki, Greece, June 2009, pp. 440-445.
  8. D. Miklic, S. Bogdan, and R. Fierro, “A grid-based approach for multi-robot formations,” European Control Conference (ECC’09), Budapest, Hungary, August 23-26, 2009. (To appear)
  9. R. Fierro, S. Ferrari, and C. Cai, “An Information-driven framework for motion planning in robotic sensor networks: Complexity and experiments,” IEEE Conf. on Decision and Control (CDC’08), Cancun, Mexico, December 9-11, 2008, pp. 483-489.
  10. J. McClintock and R. Fierro, “A hybrid system approach to formation reconfiguration in cluttered environments,” 16th Mediterranean Conference on Control and Automation (MED’08), Ajaccio, Corsica, France, June 25-27, 2008, pp. 83-88.
  11. F. Xie and R. Fierro, “First-state contractive model predictive control of nonholonomic mobile robots,” American Control Conference (ACC'08), Seattle, WA, June 2008, pp. 3494-3499.
  12. S. Ferrari, C. Cai, R. Fierro, and B. Perteet, "A geometric optimization approach to detecting and intercepting dynamic targets,” American Control Conference, New York City, July 11-13, 2007, pp. 5316-5321.
  13. F. Xie and R. Fierro, “On motion coordination of multiple vehicles with nonholonomic constraints,” American Control Conference, New York City, July 11-13, 2007, pp. 1888-1893.
  14. O. A.A. Orqueda and R. Fierro, “Visual tracking of mobile robots in formation,” American Control Conference, New York City, July 11-13, 2007, pp. 5940-5945.
  15. B. Perteet, J. McClintock, and R. Fierro, “A multi-vehicle framework for the development of Robotic Games: The Marco Polo case,” IEEE International Conference on Robotics and Automation ICRA’07, Rome, Italy, April 10-14, 2007, pp. 3717-3722.
  16. Y. Cao and R. Fierro, “Dynamic boundary tracking using dynamic sensor nets,” IEEE Conf. on Decision and Control (CDC’06), San Diego, CA, December 13-15, 2006, pp. 703-708.
  17. C. Branca and R. Fierro, "A Hierarchical optimization algorithm for cooperative vehicle networks," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 4225-4230.
  18. O. A.A. Orqueda and R. Fierro, "Robust Vision-based nonlinear formation control," American Control Conference, Minneapolis, MN, June 14-16, 2006, pp. 1422-1427.
  19. O. A.A. Orqueda and R. Fierro, "Vision-based nonlinear decentralized controller for unmanned vehicles," IEEE International Conference on Robotics and Automation, Orlando, Fl, May 15-19, 2006, pp. 1-6.
  20. E. Edwan and R. Fierro, “A low cost modular autonomous robot vehicle,” 38th Southeastern Symposium on System Theory (SSST 2006), Cookeville, TN, March 5-6, 2006, pp. 245-249.
  21. D. Pack, G. York, and R. Fierro, “Information-based cooperative control for multiple unmanned aerial vehicles,” IEEE Int. Conference on Networking, Sensing, and Control, Ft. Lauderdale, Fl, April 23-25, 2006, pp 672-676. (Invited paper)
  22. F. Xie, T. Zhang, R. Fierro, and M. Motter, "Autopilot-based nonlinear UAV formation controller with extremum-seeking," IEEE Conf. on Decision and Control and European Control Conference (CDC-ECC'05), Seville, Spain, December 12-15, 2005, pp. 4933-4938.
  23. J. Clark and R. Fierro, "Cooperative hybrid control of robotic sensors for perimeter detection and tracking", American Control Conference (ACC), Portland, OR, June 8-10, 2005, pp. 3500-3505. Best Paper Presentation in the FrA03 Autonomous Systems and Networks Session.
  24. J. Spletzer and R. Fierro, "Optimal position strategies for shape changes in robot teams," IEEE Int. Conference on Robotics and Automation, Barcelona, Spain, April 18-22, 2005, pp.754-759. J. Spletzer's web page
  25. R. Fierro, C. Branca, and J. Spletzer, “On-line optimization-based coordination of multiple unmanned vehicles,” IEEE Int. Conference on Networking, Sensing and Control, Tucson, AZ, March 19-22, 2005, pp. 716-721. (Invited paper)
  26. S. Commuri, Y. Li, D. Hougen, and R. Fierro, “Evaluating intelligence in unmanned ground vehicle teams,” Performance Metrics for Intelligent Systems Workshop (PerfMIS’04), NIST, Gaithersburg, MD, 2004.
  27. S. Commuri, R. Fierro, D. Hougen, and R. Muthuraman, "System intelligence requires distributed learning," IEEE International Symposium on Intelligent Control, Taipei, Taiwan, September 2-4, 2004, pp. 67-72.
  28. S. Commuri, Y. Li, D. Hougen, and R. Fierro, "Designing for system intelligence," 5th IFAC Symposium on Intelligent Autonomous Vehicles IAV, Lisbon, Portugal, July 5-7, 2004.
  29. R. Fierro, J. Clark, J. Sánchez, K. Walling et al., “A low-cost modular multi-vehicle experimental testbed for cooperative control,” 2nd Annual Swarming: Network Enabled C4ISR Conference, Washington DC, June 14-16, 2004.
  30. K. Wesselowski and R. Fierro, "A dual-mode model predictive controller for robot formations," IEEE Conf. on Decision and Control, Maui, Hawaii, December 9-12, 2003, pp. 3615-3620.
  31. J. Sanchez and R. Fierro, "Sliding mode control for robot formations," IEEE Int. Symposium on Intelligent Control, Houston TX, October 5-8, 2003, pp. 438-443.
  32. R. Fierro and A. K. Das, "Hybrid control of reconfigurable robot formations," American Control Conference, Denver CO, June 4-6, 2003, pp. 4607-4612.
  33. Y. Hur, R. Fierro, and I. Lee, "Modeling distributed autonomous robots using CHARON: Formation control case study," Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC'03), Hakodate, Hokkaido, Japan, May 14-16, 2003, pp. 93 -96.
  34. R. Fierro and A. K. Das, "A modular architecture for formation control," IEEE 3rd International Workshop on Robot Motion and Control (RoMoCo'02), Bukowy Dworek, Poland, Nov. 9-11, 2002, pp. 285-290.
  35. R. Fierro and E. Edwan, "The OSU multi-vehicle coordination testbed," Proc. IEEE Midwest Symposium on Circuits and Systems (MWSCAS), vol. 3, Tulsa, OK, August 4-7, 2002, pp. 41-44.
  36. R. Fierro, C. Belta, J. Desai, and V. Kumar, "On controlling aircraft formations," Proc. IEEE Conference on Decision and Control (CDC'01), Orlando, FL, Dec. 2001, pp. 1065-1070.
  37. R. Alur, T. Dang, J. Esposito, R. Fierro, Y. Hur, F. Ivancic, V. Kumar, I. Lee, P. Mishra, G. Pappas, and O. Sokolsky, "Hierarchical hybrid modeling of embedded systems," EMSOFT 2001: First International Workshop on Embedded Software, Tahoe City, CA, Oct. 8-10, 2001.
  38. J. Spletzer, A. K. Das, R. Fierro, C. J. Taylor, V. Kumar, and J. P. Ostrowski, "Cooperative localization and control for multi-robot manipulation," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, (IROS'01), Maui, Hawaii, Oct. 2001, pp. 631-636.
  39. R. Fierro, A. Das, V. Kumar, and J. P. Ostrowski, "Hybrid control of formations of robots," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 157-162. Finalist in the Best Conference Paper Competition.
  40. A. Das, R. Fierro, V. Kumar, J. Southall, J. Spletzer, and C. Taylor, "Real-time vision based control of a nonholonomic mobile robot," IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 1714-1719.
  41. R. Alur, A. Das, J. Esposito, R. Fierro, Y. Hur, G. Grudic, V. Kumar, I. Lee, J. P. Ostrowski, G. Pappas, J. Southall, J. Spletzer, and C. Taylor, "A framework and architecture for multirobot coordination," Proc. ISER00, Seventh International Symposium on Experimental Robotics, Honolulu, Hawaii, Dec. 10-13, 2000.
  42. R. Fierro, Y. Hur, I. Lee, and L. Sha, "Modeling the Simplex architecture using CHARON," Proc. Work-In-Progress Sessions of The 21st IEEE Real-Time Systems Symposium, Orlando, FL, Nov. 27-30, 2000, pp. 77-80.

Technical Reports

  1. R. Fierro, P. Song, A. Das, and V. Kumar, "A framework for scalable cooperative navigation of autonomous vehicles," Technical Report MS-CIS-01-09, Department of Computer and Information Science, University of Pennsylvania, March 2001. Available here.
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