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Publications of year 2009
Books and proceedings
  1. F. Bullo, J. Cortes, and S. Martinez. Distributed Control of Robotic Networks. Princeton University Press, 2009. ISBN: 978-0-691-14195-4. Keyword(s): Robotic Networks. 
    @Book{ fb-jc-sm:09,
author = {F. Bullo and J. Cortes and S. Martinez},
title = {Distributed Control of Robotic Networks},
year = 2009,
oldseries = {Applied Mathematics Series},
publisher = princeton,
isbn = {978-0-691-14195-4},
nomorenote = {Available at http://www.coordinationbook.info},
keywords = {Robotic Networks},
oldurl = {http://www.coordinationbook.info},
pdf = {http://coordinationbook.info/pdfs/DCRN-BulloCortesMartinez-10mar09.pdf} 
}


Thesis
  1. P. Frasca. Distributed Optimization with Communication Constraints. PhD thesis, Dipartimento di Matematica, Politecnico di Torino, March 2009. Keyword(s): Robotic Networks. 
    @PhDThesis{ pf:09,
author = {P. Frasca},
title = {Distributed Optimization with Communication Constraints},
school = {Dipartimento di Matematica, Politecnico di Torino},
year = 2009,
month = mar,
pdf = {http://motion.me.ucsb.edu/pdf/phd-pf-mar09.pdf},
keywords = "Robotic Networks" 
}


  2. S. L. Smith. Task Allocation and Vehicle Routing in Dynamic Environments. PhD thesis, Mechanical Engineering Department, University of California at Santa Barbara, September 2009. Note: Available at http://ccdc.ucsb.edu. Keyword(s): Vehicle Routing. 
    @PhDThesis{ sls:09,
author = {S. L. Smith},
title = {Task Allocation and Vehicle Routing in Dynamic Environments},
school = {Mechanical Engineering Department, University of California at Santa Barbara},
year = 2009,
month = sep,
pdf = {http://motion.me.ucsb.edu/pdf/phd-sls-aug09.pdf},
note = {Available at \ {http://ccdc.ucsb.edu}},
keywords = {Vehicle Routing} 
}


Articles in journal, book chapters
  1. S. D. Bopardikar, F. Bullo, and J. P. Hespanha. A Cooperative Homicidal Chauffeur Game. Automatica, 45(7):1771-1777, 2009. 
    @Article{ sdb-fb-jph:07w,
author = {S. D. Bopardikar and F. Bullo and J. P. Hespanha},
title = {A Cooperative {Homicidal Chauffeur} Game},
journal = automatica,
year = 2009,
volume = 45,
number = 7,
pages = {1771-1777},
doi = "10.1016/j.automatica.2009.03.014",
pdf = {http://motion.me.ucsb.edu/pdf/2007w-bbh.pdf} 
}


  2. F. Bullo, J. Cortes, and B. Piccoli. Special Issue on Control and Optimization in Cooperative Networks. SIAM Journal on Control and Optimization, 48(1):vii-vii, 2009. 
    @Article{ fb-jc-bp:09f,
author = {F. Bullo and J. Cortes and B. Piccoli},
title = {Special Issue on Control and Optimization in Cooperative Networks},
year = 2009,
journal = sicon,
volume = 48,
number = 1,
pages = {vii-vii},
doi = {10.1137/SJCODC000048000001000vii000001},
pdf = {http://motion.me.ucsb.edu/pdf/2009f-bcp.pdf} 
}


  3. R. Carli and F. Bullo. Quantized Coordination Algorithms for Rendezvous and Deployment. SIAM Journal on Control and Optimization, 48(3):1251-1274, 2009. Keyword(s): Robotic Networks. 
    @Article{ rc-fb:06j,
author = {R. Carli and F. Bullo},
title = {Quantized Coordination Algorithms for Rendezvous and Deployment},
journal = sicon,
year = 2009,
volume = 48,
number = 3,
pages = {1251-1274},
doi = {10.1137/070709906},
pdf = {http://motion.me.ucsb.edu/pdf/2006j-cb.pdf},
keywords = {Robotic Networks} 
}


  4. J. Cortes and F. Bullo. Nonsmooth Coordination and Geometric Optimization via Distributed Dynamical Systems. SIAM Review, 51(1):163-189, 2009. Keyword(s): Robotic Networks. 
    @Article{ jc-fb:08r,
author = {J. Cortes and F. Bullo},
title = {Nonsmooth Coordination and Geometric Optimization via Distributed Dynamical Systems},
journal = sirev,
year = 2009,
volume = 51,
number = 1,
pages = {163-189},
doi = {10.1137/080737551},
pdf = {http://motion.me.ucsb.edu/pdf/2008r-cb.pdf},
keywords = {Robotic Networks} 
}


  5. J. J. Enright, K. Savla, E. Frazzoli, and F. Bullo. Stochastic and Dynamic Routing Problems for Multiple UAVs. AIAA Journal of Guidance, Control, and Dynamics, 34(4):1152-1166, 2009. Keyword(s): Vehicle Routing. 
    @Article{ jje-ks-ef-fb:08k,
author = {J. J. Enright and K. Savla and E. Frazzoli and F. Bullo},
title = {Stochastic and Dynamic Routing Problems for Multiple {UAVs}},
journal = jgcd,
year = 2009,
volume = 34,
number = 4,
pages = {1152-1166},
doi = {10.2514/1.41616},
pdf = {http://motion.me.ucsb.edu/pdf/2008k-esfb.pdf},
keywords = "Vehicle Routing" 
}


  6. A. Ganguli, J. Cortes, and F. Bullo. Multirobot Rendezvous with Visibility Sensors in Nonconvex Environments. IEEE Transactions on Robotics, 25(2):340-352, 2009. Keyword(s): Visibility Sensors in Robotics, Robotic Networks. 
    @Article{ ag-jc-fb:05k,
author = {A. Ganguli and J. Cortes and F. Bullo},
title = {Multirobot Rendezvous with Visibility Sensors in Nonconvex Environments},
journal = tr,
volume = 25,
number = 2,
year = 2009,
pages = {340-352},
doi = {10.1109/TRO.2009.2013493},
pdf = {http://motion.me.ucsb.edu/pdf/2005k-gcb.pdf},
keywords = {Visibility Sensors in Robotics, Robotic Networks} 
}


  7. S. Martinez, J. Cortes, and F. Bullo. A Catalog of Inverse-Kinematics Planners for Underactuated Systems on Matrix Groups. Journal of Geometric Mechanics, 1(4):445-460, 2009. Keyword(s): Mechanical Control Systems. 
    @Article{ sm-jc-fb:08s,
author = "S. Martinez and J. Cortes and F. Bullo",
title = {A Catalog of Inverse-Kinematics Planners for Underactuated Systems on Matrix Groups},
journal = jgm,
year = 2009,
volume = 1,
number = 4,
pages = {445-460},
doi = {10.3934/jgm.2009.1.445},
pdf = {http://motion.me.ucsb.edu/pdf/2008s-mcb.pdf},
keywords = "Mechanical Control Systems" 
}


  8. K. Plarre and F. Bullo. On Kalman Filtering for Detectable Systems with Intermittent Observations. IEEE Transactions on Automatic Control, 54(2):386-390, 2009. 
    @Article{ kp-fb:07j,
author = {K. Plarre and F. Bullo},
title = {On {K}alman Filtering for Detectable Systems with Intermittent Observations},
year = 2009,
volume = 54,
number = 2,
journal = tac,
pages = {386-390},
doi = {10.1109/TAC.2008.2008347},
pdf = {http://motion.me.ucsb.edu/pdf/2007j-pb.pdf} 
}


  9. K. Savla, F. Bullo, and E. Frazzoli. Traveling Salesperson Problems for a Double Integrator. IEEE Transactions on Automatic Control, 54(4):788-793, 2009. Keyword(s): Motion Planning, Vehicle Routing. 
    @Article{ ks-fb-ef:06m,
author = {K. Savla and F. Bullo and E. Frazzoli},
title = {{T}raveling {S}alesperson {P}roblems for a Double Integrator},
year = 2009,
journal = tac,
volume = 54,
number = 4,
pages = {788-793},
doi = {10.1109/TAC.2008.2007856},
pdf = {http://motion.me.ucsb.edu/pdf/2006m-sbf.pdf},
keywords = {Motion Planning, Vehicle Routing} 
}


  10. K. Savla, G. Notarstefano, and F. Bullo. Maintaining Limited-Range Connectivity among Second-Order Agents. SIAM Journal on Control and Optimization, 48(1):187-205, 2009. Keyword(s): Robotic Networks. 
    @Article{ ks-gn-fb:06g,
author = {K. Savla and G. Notarstefano and F. Bullo},
title = {Maintaining Limited-Range Connectivity among Second-Order Agents},
journal = sicon,
year = 2009,
volume = 48,
number = 1,
pages = {187-205},
doi = {10.1137/060674971},
keywords = {Robotic Networks},
pdf = {http://motion.me.ucsb.edu/pdf/2006g-snb.pdf} 
}


  11. S. L. Smith and F. Bullo. Monotonic Target Assignment for Robotic Networks. IEEE Transactions on Automatic Control, 54(9):2042-2057, 2009. Keyword(s): Robotic Networks, Vehicle Routing. 
    @Article{ sls-fb:07l,
author = {S. L. Smith and F. Bullo},
title = {Monotonic Target Assignment for Robotic Networks},
journal = tac,
year = 2009,
volume = 54,
number = 9,
pages = {2042-2057},
doi = {10.1109/TAC.2009.2026926},
pdf = {http://motion.me.ucsb.edu/pdf/2007l-sb.pdf},
keywords = {Robotic Networks, Vehicle Routing} 
}


  12. S. L. Smith and F. Bullo. The Dynamic Team Forming Problem: Throughput and Delay for Unbiased Policies. Systems & Control Letters, 58(10-11):709-715, 2009. Keyword(s): Vehicle Routing. 
    @Article{ sls-fb:08o,
author = {S. L. Smith and F. Bullo},
title = {The Dynamic Team Forming Problem: {T}hroughput and Delay for Unbiased Policies},
journal = scl,
year = 2009,
volume = 58,
number = {10-11},
pages = {709-715},
doi = "10.1016/j.sysconle.2009.07.001",
pdf = {http://motion.me.ucsb.edu/pdf/2008o-sb.pdf},
keywords = "Vehicle Routing" 
}


  13. S. Susca, F. Bullo, and S. Martinez. Gradient Algorithms for Polygonal Approximation of Convex Contours. Automatica, 45(2):510-516, 2009. Keyword(s): Robotic Networks, Nonlinear Control. 
    @Article{ ss-sm-fb:07a,
author = {S. Susca and F. Bullo and S. Martinez},
title = {Gradient Algorithms for Polygonal Approximation of Convex Contours},
year = 2009,
volume = 45,
number = 2,
pages = {510-516},
doi = "10.1016/j.automatica.2008.08.020",
journal = automatica,
pdf = {http://motion.me.ucsb.edu/pdf/2007a-smb.pdf},
keywords = {Robotic Networks, Nonlinear Control} 
}


  14. F. Bullo, J. Cortes, and S. Martinez. Distributed Algorithms for Robotic Networks. In R. A. Meyers, editor, Encyclopedia of Complexity and Systems Science. Springer, 2009. Note: Entry 00168. ISBN: 978-0-387-75888-6. 
    @InCollection{ fb-jc-sm:08c,
author = {F. Bullo and J. Cortes and S. Martinez},
title = {Distributed Algorithms for Robotic Networks},
editor = {R. A. Meyers},
booktitle = {Encyclopedia of Complexity and Systems Science},
publisher = sv,
year = 2009,
note = {Entry 00168},
isbn = {978-0-387-75888-6},
pdf = {http://motion.me.ucsb.edu/pdf/2008c-bcm.pdf},
doi = {10.1007/978-1-4614-1806-1_94} 
}


  15. G. Notarstefano and F. Bullo. Network Abstract Linear Programming with Application to Cooperative Target Localization. In A. Chiuso, L. Fortuna, M. Frasca, L. Schenato, and S. Zampieri, editors, Modelling, Estimation and Control of Networked Complex Systems, Understanding Complex Systems, pages 177-190. Springer, 2009. ISBN: 978-3-642-03198-4. 
    @InCollection{ gn-fb:08x,
author = {G. Notarstefano and F. Bullo},
title = {Network Abstract Linear Programming with Application to Cooperative Target Localization},
booktitle = "Modelling, Estimation and Control of Networked Complex Systems",
publisher = sv,
year = 2009,
isbn = {978-3-642-03198-4},
editor = "A. Chiuso and L. Fortuna and M. Frasca and L. Schenato and S. Zampieri",
doi = "10.1007/978-3-642-03199-1_11",
pages = {177-190},
series = "Understanding Complex Systems",
pdf = {http://motion.me.ucsb.edu/pdf/2008x-nb.pdf} 
}


Conference articles
  1. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing with moving demands - Part I: Low speed demands and high arrival rates. In American Control Conference, St. Louis, MO, USA, pages 1454-1459, June 2009. Keyword(s): Vehicle Routing. 
    @InProceedings{ sdb-sls-fb:08l-a,
author = {S. D. Bopardikar and S. L. Smith and F. Bullo and J. P. Hespanha},
title = {Dynamic vehicle routing with moving demands \--{} {Part I:} {L}ow speed demands and high arrival rates},
booktitle = acc,
year = 2009,
address = {St. Louis, MO, USA},
month = jun,
pages = {1454-1459},
doi = {10.1109/ACC.2009.5160544},
pdf = {http://motion.me.ucsb.edu/pdf/2008l-a.pdf},
keywords = "Vehicle Routing" 
}


  2. S. H. Dandach and F. Bullo. Algorithms for regional source localization. In American Control Conference, St. Louis, MO, USA, pages 5440-5445, June 2009. Keyword(s): Decision Making. 
    @InProceedings{ shd-fb:07n,
author = {S. H. Dandach and F. Bullo},
title = {Algorithms for regional source localization},
booktitle = acc,
year = 2009,
address = {St. Louis, MO, USA},
month = jun,
pages = {5440-5445},
doi = {10.1109/ACC.2009.5160291},
pdf = {http://motion.me.ucsb.edu/pdf/2007n-db.pdf},
keywords = "Decision Making" 
}


  3. J. W. Durham, R. Carli, P. Frasca, and F. Bullo. Discrete partitioning and coverage control with gossip communication. In ASME Dynamic Systems and Control Conference, Hollywood, CA, USA, pages 225-232, October 2009. 
    @InProceedings{ jwd-rc-pf-fb:08z,
author = {J. W. Durham and R. Carli and P. Frasca and F. Bullo},
title = {Discrete partitioning and coverage control with gossip communication},
booktitle = asmedscc,
year = 2009,
address = {Hollywood, CA, USA},
month = oct,
pages = {225-232},
pdf = {http://motion.me.ucsb.edu/pdf/2008z-fdcb.pdf} 
}


  4. P. Frasca, R. Carli, and F. Bullo. Multiagent coverage algorithms with gossip communication: Control systems on the space of partitions. In American Control Conference, St. Louis, MO, USA, pages 2228-2235, June 2009. 
    @InProceedings{ pf-rc-fb:08m,
author = {P. Frasca and R. Carli and F. Bullo},
title = {Multiagent coverage algorithms with gossip communication: {C}ontrol systems on the space of partitions},
booktitle = acc,
year = 2009,
address = {St. Louis, MO, USA},
month = jun,
pages = {2228-2235},
doi = {10.1109/ACC.2009.5160494},
pdf = {http://motion.me.ucsb.edu/pdf/2008m-fcb.pdf} 
}


  5. F. Pasqualetti, A. Bicchi, and F. Bullo. On the security of linear consensus networks. In IEEE Conf. on Decision and Control and Chinese Control Conference, Shanghai, China, pages 4894-4901, December 2009. Keyword(s): Secure Control Systems. 
    @InProceedings{ fp-ab-fb:09c,
author = {F. Pasqualetti and A. Bicchi and F. Bullo},
title = {On the security of linear consensus networks},
booktitle = cdcccc,
year = 2009,
address = {Shanghai, China},
month = dec,
pages = {4894-4901},
doi = {10.1109/CDC.2009.5399524},
pdf = {http://motion.me.ucsb.edu/pdf/2009c-pbb.pdf},
keywords = {Secure Control Systems} 
}


  6. M. Pavone, A. Arsie, E. Frazzoli, and F. Bullo. Equitable partitioning policies for robotic networks. In IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, pages 2356-2361, May 2009. 
    @InProceedings{ mp-aa-ef-fb:08h,
author = {M. Pavone and A. Arsie and E. Frazzoli and F. Bullo},
title = {Equitable partitioning policies for robotic networks},
booktitle = icra,
year = 2009,
address = {Kobe, Japan},
month = may,
pages = {2356-2361},
doi = {10.1109/ROBOT.2009.5152809},
pdf = {http://motion.me.ucsb.edu/pdf/2008h-pafb.pdf} 
}


  7. M. Pavone, S. L. Smith, F. Bullo, and E. Frazzoli. Dynamic multi-vehicle routing with multiple classes of demands. In American Control Conference, St. Louis, MO, USA, pages 604-609, June 2009. Keyword(s): Vehicle Routing. 
    @InProceedings{ sls-mp-fb-ef:08q,
author = {M. Pavone and S. L. Smith and F. Bullo and E. Frazzoli},
title = {Dynamic multi-vehicle routing with multiple classes of demands},
booktitle = acc,
year = 2009,
address = {St. Louis, MO, USA},
month = jun,
pages = {604-609},
doi = {10.1109/ACC.2009.5160557},
pdf = {http://motion.me.ucsb.edu/pdf/2008q-psbf.pdf},
keywords = "Vehicle Routing" 
}


  8. S. L. Smith, S. D. Bopardikar, and F. Bullo. A dynamic boundary guarding problem with translating demands. In IEEE Conf. on Decision and Control and Chinese Control Conference, Shanghai, China, pages 8543-8548, December 2009. 
    @InProceedings{ sls-sdb-fb:09g,
author = {S. L. Smith and S. D. Bopardikar and F. Bullo},
title = {A dynamic boundary guarding problem with translating demands},
booktitle = cdcccc,
year = 2009,
address = {Shanghai, China},
month = dec,
pages = {8543-8548},
doi = {10.1109/CDC.2009.5400538},
pdf = {http://motion.me.ucsb.edu/pdf/2009g-sbb.pdf} 
}


  9. S. L. Smith, S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Dynamic vehicle routing with moving demands - Part II: High speed demands or low arrival rates. In American Control Conference, St. Louis, MO, USA, pages 1466-1471, June 2009. Keyword(s): Vehicle Routing. 
    @InProceedings{ sdb-sls-fb:08l-b,
author = {S. L. Smith and S. D. Bopardikar and F. Bullo and J. P. Hespanha},
title = {Dynamic vehicle routing with moving demands \--{} {Part II:} {H}igh speed demands or low arrival rates},
booktitle = acc,
year = 2009,
address = {St. Louis, MO, USA},
month = jun,
pages = {1466-1471},
doi = {10.1109/ACC.2009.5160541},
pdf = {http://motion.me.ucsb.edu/pdf/2008l-b.pdf},
keywords = "Vehicle Routing" 
}


Miscellaneous
  1. N. P. Owen. MotionArc: Preliminary design of a system architecture for collaborative robotic missions. Master's thesis, Department of Mechanical Engineering, University of California at Santa Barbara, June 2009. Keyword(s): Robotic Networks. 
    @MastersThesis{ npo:10,
author = {N. P. Owen},
title = {MotionArc: Preliminary design of a system architecture for collaborative robotic missions},
school = {Department of Mechanical Engineering, University of California at Santa Barbara},
year = 2009,
month = jun,
keywords = {Robotic Networks},
pdf = {http://motion.me.ucsb.edu/pdf/ms-npo-jun09.pdf} 
}


  2. F. Bullo, R. Carli, and P. Frasca. Gossip Coverage Control for Robotic Networks: Dynamical Systems on the the Space of Partitions, December 2009. Note: Available at http://arxiv.org/abs/0903.3642. 
    @Misc{ pf-rc-fb:08u-arxiv,
author = {F. Bullo and R. Carli and P. Frasca},
title = {Gossip Coverage Control for Robotic Networks: {D}ynamical Systems on the the Space of Partitions},
year = 2009,
month = dec,
note = {Available at \ {http://arxiv.org/abs/0903.3642}},
pdf = {http://arxiv.org/pdf/0903.3642v2.pdf} 
}


  3. S. H. Dandach and F. Bullo. Algorithms for regional source localization, March 2009. Note: Available at http://arxiv.org/abs/0903.3061. 
    @Misc{ shd-fb:07n-arxiv,
author = {S. H. Dandach and F. Bullo},
title = {Algorithms for regional source localization},
year = 2009,
month = mar,
note = {Available at \ {http://arxiv.org/abs/0903.3061}},
pdf = {http://arxiv.org/pdf/0903.3061} 
}


  4. F. Dorfler and F. Bullo. Synchronization and Transient Stability in Power Networks and Non-Uniform Kuramoto Oscillators, October 2009. Note: Available at http://arxiv.org/abs/0910.5673. Keyword(s): Power Networks. 
    @Misc{ fd-fb:09o-arxiv,
author = {F. Dorfler and F. Bullo},
title = {Synchronization and Transient Stability in Power Networks and Non-Uniform {K}uramoto Oscillators},
note = {Available at \ {http://arxiv.org/abs/0910.5673}},
year = 2009,
pdf = {http://arxiv.org/pdf/0910.5673v3.pdf},
month = oct,
keywords = "Power Networks" 
}


  5. G. Notarstefano and F. Bullo. Distributed abstract optimization via constraints consensus, October 2009. Note: Available at http://arxiv.org/abs/0910.5816. 
    @Misc{ gn-fb:07z-arxiv,
author = {G. Notarstefano and F. Bullo},
title = {Distributed abstract optimization via constraints consensus},
note = {Available at \ {http://arxiv.org/abs/0910.5816}},
pdf = {http://arxiv.org/pdf/0910.5816v2.pdf},
year = 2009,
month = oct 
}


  6. M. Pavone, S. L. Smith, F. Bullo, and E. Frazzoli. Dynamic multi-vehicle routing with multiple classes of demands, March 2009. Note: Available at http://arxiv.org/abs/0903.2695. 
    @Misc{ mp-sls-fb-ef:08q-arxiv,
author = {M. Pavone and S. L. Smith and F. Bullo and E. Frazzoli},
title = {Dynamic multi-vehicle routing with multiple classes of demands},
note = {Available at \ {http://arxiv.org/abs/0903.2695}},
pdf = {http://arxiv.org/pdf/0903.26951},
year = 2009,
month = mar 
}


  7. S. L. Smith, S. D. Bopardikar, and F. Bullo. A dynamic boundary guarding problem with translating targets, August 2009. Note: Available at http://arxiv.org/abs/0908.3929. 
    @Misc{ sls-sdb-fb:09g-arxiv,
author = {S. L. Smith and S. D. Bopardikar and F. Bullo},
title = {A dynamic boundary guarding problem with translating targets},
note = {Available at \ {http://arxiv.org/abs/0908.3929}},
pdf = {http://arxiv.org/pdf/0908.3929},
year = 2009,
month = aug 
}


  8. V. Srivastava, K. Plarre, and F. Bullo. Randomized sensor selection in sequential hypothesis testing, September 2009. Note: Available at http://arxiv.org/abs/0909.1801. 
    @Misc{ vs-kp-fb:08p-arxiv,
author = {V. Srivastava and K. Plarre and F. Bullo},
title = {Randomized sensor selection in sequential hypothesis testing},
note = {Available at \ {http://arxiv.org/abs/0909.1801}},
year = 2009,
pdf = {http://arxiv.org/pdf/0909.1801},
month = sep 
}



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