@article {1634346,
	title = {Hysteresis stabilizes dynamic control of self-assembled army ant constructions},
	journal = {Nature Communications},
	volume = {13},
	number = {1660},
	year = {2022},
	abstract = {Biological systems must adjust to changing external conditions, and their resilience depends on their control mechanisms. How is dynamic control implemented in noisy, decentralized systems? Army ants{\textquoteright} self-assembled bridges are built on unstable features, like leaves, which frequently move. Using field experiments and simulations, we characterize the bridges{\textquoteright} response as the gaps they span change in size, identify the control mechanism, and explore how this emerges from individuals{\textquoteright} decisions. For a given gap size, bridges were larger after the gap increased rather than decreased. This hysteresis was best explained by an accumulator model, in which individual decisions to join or leave a bridge depend on the difference between its current and equilibrium state.This produces robust collective structures that adjust to lasting perturbations while ignoring small, momentary shifts. Our field data support separate joining and leaving cues; joining is prompted by high bridge performance and leaving by an excess of ants. This leads to stabilizing hysteresis, an important feature of many biological and engineered systems.},
	url = {https://www.nature.com/articles/s41467-022-28773-z},
	author = {Helen McCreery and Georgina Gemayal and Ana Pais and Simon Garnier and Radhika Nagpal}
}
@conference {1646006,
	title = {An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots},
	booktitle = {Intl. Conf. on Swarm Intelligence (ANTS)},
	year = {2022},
	author = {Bahar Haghighat and Johannes Boghaert and Zev Minsky-Primus and Julia Ebert and Fanghzheng Liu and Martin Nisser13th International Conference on Swarm Intelligence (Swarm robotics and swarm and Ariel Ekblaw and Radhika Nagpal}
}
@mastersthesis {1646007,
	title = {Distributed Decision-making Algorithms for Inspection by Autonomous Robot Collectives},
	year = {2022},
	type = {PhD Thesis},
	author = {Julia Ebert}
}
@article {1564758,
	title = {Implicit coordination for 3D underwater collective behaviors in a fish-inspired robot swarm},
	journal = {Science Robotics},
	volume = {6},
	number = {50},
	year = {2021},
	note = {Cover Article\&nbsp;-- Movies\&nbsp;--\&nbsp;Focus\&nbsp;and Science news.},
	abstract = {Many fish species gather by the thousands and swim in harmony with seemingly no effort. Large schools display a range of impressive collective behaviors, from simple shoaling to collective migration and from basic predator evasion to dynamic maneuvers such as bait balls and flash expansion. A wealth of experimental and theoretical work has shown that these complex three-dimensional (3D) behaviors can arise from visual observations of nearby neighbors, without explicit communication. By contrast, most underwater robot collectives rely on centralized, above-water, explicit communication and, as a result, exhibit limited coordination complexity. Here, we demonstrate 3D collective behaviors with a swarm of fish-inspired miniature underwater robots that use only implicit communication mediated through the production and sensing of blue light. We show that complex and dynamic 3D collective behaviors{\textemdash}synchrony, dispersion/aggregation, dynamic circle formation, and search-capture{\textemdash}can be achieved by sensing minimal, noisy impressions of neighbors, without any centralized intervention. Our results provide insights into the power of implicit coordination and are of interest for future underwater robots that display collective capabilities on par with fish schools for applications such as environmental monitoring and search in coral reefs and coastal environments.},
	author = {Florian Berlinger and Melvin Gauci and Radhika Nagpal}
}
@conference {1587679,
	title = {Self-Organized Evasive Fountain Maneuvers with a Bio-inspired Underwater Robot Collective},
	booktitle = {Intl. Conference on Automation and Robotics (ICRA)},
	year = {2021},
	note = {(finalist for best paper award)},
	abstract = {
	Several animal species self-organize into large groups to leverage vital behaviors such as foraging, construc- tion, or predator evasion. With the advancement of robotics and automation, engineered multi-agent systems have been inspired to achieve similarly high degrees of scalable, robust, and adaptable autonomy through decentralized and dynamic coordination. So far however, they have been most successfully demonstrated above ground or with partial assistance from central controllers and external tracking. Here we demonstrate an underwater robot collective that realizes full spatiotempo- ral coordination. Using the example of fish-inspired evasive maneuvers, our robots display alignment, formation control, and coordinated escape, enabled by real-time on-board multi- robot tracking and local decision making. Accompanied by a custom simulator, this robotic platform advances the physically- validated development of algorithms for collective behaviors and future applications including collective exploration, track- ing and capture, or environmental sampling.

},
	author = {Florian Berlinger and Paula Wulkop and Radhika Nagpal}
}
@mastersthesis {1591088,
	title = {Blueswarm: 3D Self-organization in a Fish-inspired Robot Swarm},
	year = {2021},
	type = {PhD thesis},
	author = {Florian Berlinger}
}
@article {1565866,
	title = {Fish-like three-dimensional swimming with an autonomous, multi-fin, and biomimetic robot},
	journal = {Bioinspiration \& Biomimetics},
	volume = {16},
	number = {2},
	year = {2021},
	abstract = {Fish migrate across considerable distances and exhibit remarkable agility to avoid predators and feed. Fish swimming performance and maneuverability remain unparalleled when compared to robotic systems, partly because previous work has focused on robots and flapping foil systems that are either big and complex, or tethered to external actuators and power sources. By contrast, we present a robot {\textendash} the Finbot {\textendash} that combines high degrees of autonomy, maneuverability, and biomimicry with miniature size (160 cm3). Thus, it is well-suited for controlled three-dimensional experiments on fish swimming in confined laboratory test beds. Finbot uses four independently controllable fins and sensory feedback for precise closed-loop underwater locomotion. Different caudal fins can be attached magnetically to reconfigure Finbot for swimming at top speed (122 mm/s = 1 BL/s) or minimal cost of transport (CoT = 8.2) at Strouhal numbers as low as 0.53. We conducted more than 150 experiments with 12 different caudal fins to measure three key characteristics of swimming fish: (i) linear speed-frequency relationships, (ii) U-shaped costs of transport, and (iii) reverse K{\'a}rm{\'a}n wakes (visualized with particle image velocimetry). More fish-like wakes appeared where the cost of transport was low. By replicating autonomous multi-fin fish-like swimming, Finbot narrows the gap between fish and fish-like robots and can address open questions in aquatic locomotion, such as optimized propulsion for new fish robots, or the hydrodynamic principles governing the energy savings in fish schools.},
	url = {https://dx.doi.org/10.1088/1748-3190/abd013},
	author = {Florian Berlinger and Mehdi Saadat and Hossein Haj-Hariri and George V Lauder and Radhika Nagpal}
}
@article {1591086,
	title = {Hydrodynamic advantages of in-line schooling},
	journal = {Bioinspiration \& Biomimetics},
	volume = {16},
	number = {4},
	year = {2021},
	abstract = {
	Fish benefit energetically when swimming in groups, which is reflected in lower tail-beat frequencies for maintaining a given speed. Recent studies further show that fish save the most energy when swimming behind their neighbor such that both the leader and the follower benefit. However, the mechanisms underlying such hydrodynamic advantages have thus far not been established conclusively. The long-standing drafting hypothesis{\textemdash}reduction of drag forces by judicious positioning in regions of reduced oncoming flow{\textendash}fails to explain advantages of in-line schooling described in this work. We present an alternate hypothesis for the hydrodynamic benefits of in-line swimming based on enhancement of propulsive thrust. Specifically, we show that an idealized school consisting of in-line pitching foils gains hydrodynamic benefits via two mechanisms that are rooted in the undulatory jet leaving the leading foil and impinging on the trailing foil: (i) leading-edge suction on the trailer foil, and (ii) added-mass push on the leader foil. Our results demonstrate that the savings in power can reach as high as 70\% for a school swimming in a compact arrangement. Informed by these findings, we designed a modification of the tail propulsor that yielded power savings of up to 56\% in a self-propelled autonomous swimming robot. Our findings provide insights into hydrodynamic advantages of fish schooling, and also enable bioinspired designs for significantly more efficient propulsion systems that can harvest some of their energy left in the flow.

},
	url = {https://iopscience.iop.org/article/10.1088/1748-3190/abe137},
	author = {Mehdi Saadat and Florian Berlinger and Artan Sheshmani and Radhika Nagpal and George V Lauder and Hossein Haj-Hariri}
}
@article {1587677,
	title = {Validating a termite-inspired construction coordination mechanism using an autonomous robot},
	journal = {Frontiers in Robotics and AI},
	year = {2021},
	author = {Nicole Carey and Paul Bardunias and Radhika Nagpal and Werfel, Justin}
}
@proceedings {1491117,
	title = {Bayes Bots: Collective Bayesian Decision-Making in Decentralized Robot Swarms},
	journal = {Intl. Conference on Robotics and Automation (ICRA)},
	year = {2020},
	author = {Julia Ebert and Melvin Gauci and Frederick Mallmann-Trenn and Radhika Nagpal}
}
@proceedings {1491116,
	title = {Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective},
	journal = {Intl. Conferenc on Robotics and Automation (ICRA)},
	year = {2020},
	author = {Melinda Malley and Bahar Haghighat and Lucie Houel and Radhika Nagpal}
}
@article {1518791,
	title = {The extension of internal humidity levels beyond the soil surface facilitates mound expansion in Macrotermes},
	journal = {Proceedings of the Royal Society B: Biological Science},
	volume = {287},
	number = {1930},
	year = {2020},
	abstract = {Termites in the genus\&nbsp;Macrotermes\&nbsp;construct large-scale soil mounds above their nests. The classic explanation for how termites coordinate their labour to build the mound, based on a putative cement pheromone, has recently been called into question. Here, we present evidence for an alternate interpretation based on sensing humidity. The high humidity characteristic of the mound{\textquoteright}s internal environment extends a short distance into the low-humidity external world, in a {\textquoteleft}bubble{\textquoteright} that can be disrupted by external factors like wind. Termites transport more soil mass into on-mound reservoirs when shielded from water loss through evaporation, and into experimental arenas when relative humidity is held at a high value. These results suggest that the interface between internal and external conditions may serve as a template for mound expansion, with workers moving freely within a zone of high humidity and depositing soil at its edge. Such deposition of additional moist soil will increase local humidity, in a feedback loop allowing the {\textquoteleft}interior{\textquoteright} zone to progress further outward and lead to mound expansion.},
	author = {Paul Bardunias and Daniel Calovi and Nicole Carey and Rupert Soar and J. Scott Turner and Radhika Nagpal and Werfel, Justin}
}
@article {1502267,
	title = {Tunable Multi-Modal Locomotion in Soft Dielectric Elastomer Robots},
	journal = {IEEE Robotics and Automation Letters (RAL)},
	year = {2020},
	author = {Mihai Duduta and Florian Berlinger and Radhika Nagpal and David Clarke and Rob Wood and Zeynep Temel}
}
@mastersthesis {1518506,
	title = {Army Ant Inspired Adaptive Self-Assembly with Soft Climbing Robots},
	year = {2020},
	type = {PhD Thesis},
	author = {Melinda Malley}
}
@article {1438514,
	title = {Surface curvature guides early construction activity in mound-building termites},
	journal = {Philosophical Transactions of the Royal Society },
	volume = {374},
	number = {1774},
	year = {2019},
	abstract = {Termite colonies construct towering, complex mounds, in a classic example of distributed agents coordinating their activity via interaction with a shared environment. The traditional explanation for how this coordination occurs focuses on the idea of a {\textquoteleft}cement pheromone{\textquoteright}, a chemical signal left with deposited soil that triggers further deposition. Recent research has called this idea into question, pointing to a more complicated behavioural response to cues perceived with multiple senses. In this work, we explored the role of topological cues in affecting early construction activity in\&nbsp;Macrotermes. We created artificial surfaces with a known range of curvatures, coated them with nest soil, placed groups of major workers on them and evaluated soil displacement as a function of location at the end of 1 h. Each point on the surface has a given curvature, inclination and absolute height; to disambiguate these factors, we conducted experiments with the surface in different orientations. Soil displacement activity is consistently correlated with surface curvature, and not with inclination nor height. Early exploration activity is also correlated with curvature, to a lesser degree. Topographical cues provide a long-term physical memory of building activity in a manner that ephemeral pheromone labelling cannot. Elucidating the roles of these and other cues for group coordination may help provide organizing principles for swarm robotics and other artificial systems.This article is part of the theme issue {\textquoteleft}Liquid brains, solid brains: How distributed cognitive architectures process information{\textquoteright}.},
	url = {https://royalsocietypublishing.org/doi/10.1098/rstb.2018.0374},
	author = {Daniel Calovi and Paul Bardunias and Nicole Carey and J. Scott Turner and Radhika Nagpal and Werfel, Justin}
}
@article {1463457,
	title = {Effects of load mass and size on cooperative transport in ants over multiple transport challenges},
	journal = {Journal of Experimental Biology},
	volume = {doi: 10.1242/jeb.206821},
	year = {2019},
	abstract = {Some ant species cooperatively transport a wide range of extremely large, heavy food objects of various shapes and materials. While previous studies have examined how object mass and size affect the recruitment of additional workers, less is understood about how these attributes affect the rest of the transport process. Using artificial baits with independently varying mass and size, we reveal their effects on cooperative transport in\&nbsp;Paratrechina longicornis\&nbsp;across two transport challenges: movement initiation and obstacle navigation. As expected, object mass was tightly correlated with number of porters as workers adjust group size to the task. Mass affected performance similarly across the two challenges, with groups carrying heavy objects having lower performance. Yet, object size had differing effects depending on the challenge. While larger objects led to reduced performance during movement initiation {\textendash} groups took longer to start moving these objects and had lower velocities {\textendash} there was no evidence for this during obstacle navigation, and the opposite pattern was weakly supported. If a group struggles to start moving an object, it does not necessarily predict difficulty navigating around obstacles; groups should persist in trying to move {\textquoteleft}difficult{\textquoteright} objects, which may be easier to transport later in the process. Additionally, groups hitting obstacles were not substantially disrupted, and started moving again sooner than at the start, despite the nest direction being blocked.\&nbsp;Paratrechina longicornis\&nbsp;transport groups never failed, performing well at both challenges while carrying widely varying objects, and even transported a bait weighing 1900 times the mass of an individual.},
	url = {https://jeb.biologists.org/content/222/17/jeb206821},
	author = {Helen McCreery and Jenna Bilek and Radhika Nagpal and Michael Breed}
}
@article {1438510,
	title = {Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator},
	journal = {Smart Materials and Structures },
	volume = {28},
	number = {09LT01},
	year = {2019},
	month = {2019},
	author = {Mihai Duduta and Florian Berlinger and Radhika Nagpal and David Clarke and Wood, Robert and Zeynep Temel}
}
@mastersthesis {1438508,
	title = {Self-assembly of soft-robots in simulation inspired by army ant bridge behavior},
	year = {2019},
	type = {Master{\textquoteright}s Thesis},
	author = {Lucie Houel}
}
@mastersthesis {1438509,
	title = {Teach a Fish to Swim: Evaluating the Ability of Turing Learning to Infer Schooling Behavior},
	year = {2019},
	type = {Bachelor{\textquoteright}s Thesis},
	abstract = {Turing Learning is a promising evolutionary design method for swarm robotics that uses ob- servation of natural or artificial systems to infer controllers for agents in a swarm. However, Tur- ing Learning has thus far only been used to infer very simple swarm behaviors. In this work, we expand Turing Learning to infer dispersion, a much more complex swarm behavior, by a simulated school of robotic fish. Turing Learning depends on the co-evolution of replicas and classifiers. Replicas mimic ideal behavior and classifiers distinguish between data samples from replica and ideal agents. We model replicas and classifiers with neural networks and investigate the architecture of each component independently in order to determine needed modifications to Turing Learning for it to infer fish schooling. We find that previously formulated data samples led to the inference of behaviors that locally mimicked the agent trajectories in dispersion, yet poorly mimicked dispersion of an entire swarm. We present three alternative data samples that consider the spatial arrangement of agents in a swarm. We also introduce three new classifier fitness func- tions that accelerate evolution of high-accuracy classifiers. We find in a preliminary trial that using one of our data samples (metrics) and classifier fitness functions (foutputs) enables the successful inference of dispersion via Turing Learning.},
	author = {Katherine Binney}
}
@conference {1472359,
	title = {A Biomimetic Actuation Method for a Miniature, Low-Cost Multi-jointed Robotic Fish},
	booktitle = {IEEE OCEANS conference},
	year = {2018},
	author = {Katherina Soltan and Jamie O{\textquoteright}Brien and Florian Berlinger and Radhika Nagpal and Jeff Dusek}
}
@conference {1312623,
	title = {A Modular Dielectric Elastomer Actuator to Drive Miniature Autonomous Underwater Vehicles},
	booktitle = {Intl. Conf. on Robotics and Automation (ICRA)},
	year = {2018},
	note = {(finalist for Best Conference Paper and Best Student Paper Awards)},
	abstract = {Abstract{\textemdash}In this paper we present the design of a fin-like dielectric elastomer actuator (DEA) that drives a miniature autonomous underwater vehicle (AUV). The fin-like actuator is modular and independent of the body of the AUV. All electronics required to run the actuator are inside the 100 mm long 3D-printed body, allowing for autonomous mobility of the AUV. The DEA is easy to manufacture, requires no pre-stretch of the elastomers, and is completely sealed for underwater operation. The output thrust force can be tuned by stacking multiple actuation layers and modifying the Young{\textquoteright}s modulus of the elastomers. The AUV is reconfigurable by a shift of its center of mass, such that both planar and vertical swimming can be demonstrated on a single vehicle. For the DEA we measured thrust force and swimming speed for various actuator designs ran at frequencies from 1Hz to 5Hz. For the AUV we demonstrated autonomous planar swimming and closed- loop vertical diving. The actuators capable of outputting the highest thrust forces can power the AUV to swim at speeds of up to 0.55body lengths per second. The speed falls in the upper range of untethered swimming robots powered by soft actuators. Our tunable DEAs also demonstrate the potential to mimic the undulatory motions of fish fins.\&nbsp;},
	author = {Florian Berlinger and Mihai Duduta and Hudson Gloria and David Clarke and Radhika Nagpal and Wood, Robert}
}
@conference {1312621,
	title = {Multi-Feature Collective Decision Making in Robot Swarms},
	booktitle = {Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2018},
	abstract = {Collective decision making has been studied extensively in the fields of multi-agent systems and swarm robotics, inspired by its pervasiveness in biological systems such as honeybee and ant colonies. However, most previous research has focused on collective decision making on a single feature. In this work, we introduce and investigate the multi-feature collective decision making problem, where a collective must decide on multiple binary features simultaneously, given no a priori information about their relative difficulties. Each agent may only estimate one feature at any given time, but the agents can locally communicate their noisy estimates to arrive at a decision. We demonstrate a decentralized algorithm for single-feature decision making and a dynamic task allocation strategy that allows the agents to lock in decisions on multiple features in finite time. We validate our approach using simulated and physical Kilobot robots. Our results show that a collective can correctly classify a multi-feature environment, even if presented with pathological initial agent-to-feature allocations.\&nbsp;},
	author = {Julia Ebert and Melvin Gauci and Radhika Nagpal}
}
@conference {1126206,
	title = {Flippy: A Soft, Autonomous Climber with Simple Sensing and Control},
	booktitle = {IEEE/RSJ Intl Conference on Intelligent Robots and Systems (IROS)},
	year = {2017},
	abstract = {
	Climbing robots have many potential applications including maintenance, monitoring, search and rescue, and self-assembly. While numerous climbing designs have been investigated, most are limited to stiff components. Flippy (Fig. 1) is a small, flipping biped robot with a soft, flexible body and on-board power and control. Due to its built-in compliance, flipping gait, and corkscrew gripper, it can autonomously climb up and down surfaces held at any angle relative to gravity and transition from one surface to another, without complex sensing or control. In this paper, we demonstrate the robot{\textquoteright}s ability to flip consistently over a flat Velcro surface and 2D Velcro track, where it reliably climbs vertically, upside down and back to a flat surface, completing all the interior transitions in-between.\&nbsp;

},
	author = {Melinda Malley and Michael Rubenstein and Radhika Nagpal}
}
@article {1129601,
	title = {Robust Maneuverability of a Miniature Low-Cost Underwater Robot using Multiple Fin Actuation},
	journal = {IEEE Robotics and Automation Letters (RA-L)},
	volume = {PP},
	number = {99},
	year = {2017},
	abstract = {
	In this paper we present the design of a miniature (100 mm) autonomous underwater robot that is low-cost ($ 100), easy to manufacture, and highly maneuverable. A key aspect of the robot design that makes this possible is the use of low-cost magnet-in-coil actuators, which have a small profile and minimal sealing requirements. This allows us to create a robot with multiple flapping fin propulsors that independently control robot motions in surge, heave, and yaw. We present several results on the robot, including: (i) quantified open-loop swimming characteristics; (ii) autonomous behaviors using a pressure sensor and an IMU to achieve controlled swimming of prescribed trajectories; (iii) feedback from an optic sensor to enable homing to a light source. The robot is designed to form the basis for underwater swarm robotics testbeds, where low cost and ease of manufacture are critical, and 3D maneuverability allows testing complex coordination inspired by natural fish schools. Individually, miniature and low-cost underwater robots can also provide a platform for the study of 3D autonomy and marine vehicle dynamics in educational and resource-constrained settings.\&nbsp;

},
	author = {Florian Berlinger and Jeff Dusek and Melvin Gauci and Radhika Nagpal}
}
@article {1190306,
	title = {Complex Design by Simple Robots: A Collective Embodied Intelligence Approach to Construction},
	journal = {Architectural Design, Special Issue: Autonomous Assembly: Designing for a New Era of Collective Construction},
	volume = {87},
	number = {4},
	year = {2017},
	pages = {44-49},
	abstract = {Nature{\textquoteright}s builders {\textendash} from termites to beavers {\textendash} offer a model of collective intelligence that can inspire robotic construction.\&nbsp;Kirstin Petersen, Assistant Professor in Electrical and Computer Engineering at Cornell University, Ithaca, New York, and\&nbsp;Radhika Nagpal, Professor in Computer Science at the Harvard School of Engineering and Applied Sciences, Cambridge, Massachusetts, describe several recent projects in this field that they have been involved in, both separately and collaboratively.},
	author = {Kirstin Petersen and Radhika Nagpal}
}
@article {1312619,
	title = {Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems},
	journal = {PLoS computational biology},
	volume = {13},
	number = {12},
	year = {2017},
	abstract = {(Author summary)\&nbsp;Many complex systems have to allocate their units to different functions: cells in an embryo develop into different tissues, servers in a computer cluster perform different cal- culations, and insect workers choose particular tasks, such as brood care or foraging. Here we demonstrate that this process does not automatically become easier or harder with sys- tem size. If more workers are present than needed to complete the work available, some workers will always be idle; despite this, having surplus workers makes redistributing them across the tasks that need work much faster. Thus, unexpectedly, such surplus, idle workers may potentially significantly improve system performance. Our work suggests that interdisciplinary studies between biology and distributed computing can yield novel insights for both fields.\&nbsp;},
	url = {http://journals.plos.org/ploscompbiol/article?id=10.1371/journal.pcbi.1005904},
	author = {Tsvetomira (Mira) Radeva and Anna Dornhaus and Lynch, Nancy and Radhika Nagpal and Hsin-Hao Su}
}
@conference {1062746,
	title = {Error Cascades in Collective Behavior: A Case Study of the Gradient Algorithm on 1000 Physical Agents},
	booktitle = {16th International Conference on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2017},
	abstract = {
	The gradient, or hop count, algorithm is inspired by nat- ural phenomena such as the morphogen gradients present in multi-cellular development. It has several applications in multi-agent systems and sensor networks, serving as a basis for self-organized coordinate system formation, and finding shortest paths for message passing. It is a simple and well- understood algorithm in theory. However, we show here that in practice, it is highly sensitive to specific rare errors that emerge at larger scales. We implement it on a system of 1000 physical agents (Kilobot robots) that communicate asynchronously via a noisy wireless channel. We observe that spontaneous, short-lasting rare errors made by a sin- gle agent (e.g. due to message corruption) propagate spa- tially and temporally, causing cascades that severely hinder the algorithm{\textquoteright}s functionality. We develop a mathematical model for temporal error propagation and validate it with experiments on 100 agents. This work shows how multi- agent algorithms that are believed to be simple and robust from theoretical insight may be highly challenging to im- plement on physical systems. Systematically understanding and quantifying their current limitations is a first step in the direction of improving their robustness for implementation.

},
	author = {Melvin Gauci and Monica Ortiz and Michael Rubenstein and Radhika Nagpal}
}
@article {1094626,
	title = {Excavation and aggregation as organizing factors in de novo construction by mound-building termites},
	journal = {Proceedings of the Royal Society B},
	volume = {284},
	number = {1856},
	year = {2017},
	abstract = {Termites construct complex mounds that are orders of magnitude larger than any individual and fulfil a variety of functional roles. Yet the processes through which these mounds are built, and by which the insects organize their efforts, remain poorly understood. The traditional understanding focuses on stigmergy, a form of indirect communication in which actions that change the environment provide cues that influence future work. Termite construction has long been thought to be organized via a putative {\textquoteleft}cement pheromone{\textquoteright}: a chemical added to deposited soil that stimulates further deposition in the same area, thus creating a positive feedback loop whereby coherent structures are built up. To investigate the detailed mechanisms and behaviours through which termites self-organize the early stages of mound construction, we tracked the motion and behaviour of major workers from two\&nbsp;Macrotermes\&nbsp;species in experimental arenas. Rather than a construction process focused on accumulation of depositions, as modelsbased on cement pheromone would suggest, our results indicated that the primary organizing mechanisms were based on excavation. Digging activity was focused on a small number of excavation sites, which in turn provided templates for soil deposition. This behaviour was mediated by a mechanism of aggregation, with termites being more likely to join in the work at an excavation site as the number of termites presently working at that site increased. Statistical analyses showed that this aggregation mechanism was a response to active digging, distinct from and unrelated to putative chemical cues that stimulate deposition. Agent-based simulations quantitatively supported the interpretation that the early stage of de novo construction is primarily organized by excavation and aggregation activity rather than by stigmergic deposition.},
	url = {http://rspb.royalsocietypublishing.org/cgi/content/abstract/rspb.2016.2730},
	author = {Ben Green and Paul Bardunias and J. Scott Turner and Radhika Nagpal and Werfel, Justin}
}
@conference {1062761,
	title = {Fast, accurate, small-scale 3D scene capture using a low-cost depth sensor},
	booktitle = {IEEE Winter Conference on Applications of Computer Vision (WACV)},
	year = {2017},
	abstract = {
	Commercially available depth sensing devices are pri- marily designed for domains that are either macroscopic, or static. We develop a solution for fast microscale 3D re- construction, using off-the-shelf components. By the addi- tion of lenses, precise calibration of camera internals and positioning, and development of bespoke software, we turn an infrared depth sensor designed for human-scale motion and object detection into a device with mm-level accuracy capable of recording at up to 30Hz.\&nbsp;

},
	author = {Nicole Carey and Radhika Nagpal and Werfel, Justin}
}
@conference {1285271,
	title = {Models of Adaptive Navigation, Inspired by Ant Cooperative Transport in the Presence of Obstacles},
	booktitle = {IEEE Artificial Life Conference (ALIFE)},
	year = {2017},
	note = {(Best Student Paper, special commendation)},
	abstract = {
	Cooperative transport\&nbsp;is an impressive example of collective behavior in ants, where groups of ants work together to move heavy food objects back to their nest over heterogeneous terrain. This behavior also serves as a model for bio-inspired robotics. While many studies have considered the mechanisms by which ants transport objects in simple settings, few have looked at how they deal with obstacles and heterogeneous terrain. A recent study on Paratrechina longicornis (crazy ants) demonstrated that groups of these ants implement a stochastic, adaptive, and robust cooperative transport strategy that allows them to succeed at navigating challenging obstacles that require moving away from their goal. In this paper, we use group-level computational models to investigate the significance and implications of this biological strategy. We develop an algorithm that reproduces important elements of the strategy, and compare it to several benchmark algorithms for a range of obstacle sizes and shapes. Our results show that, for smaller obstacles, the ant-inspired adaptive stochastic strategy is adept at efficient navigation, due to its ability to match the level of randomness it uses to unknown object size and shape. We also find some unexpected differences between our results and the original ant transport behavior, suggesting new biological experiments.\&nbsp;

},
	author = {Elizabeth E. Esterley and Helen McCreery and Radhika Nagpal}
}
@conference {1062726,
	title = {Piggybacking Robots: Human-Robot Overtrust in University Dormitory Security},
	booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)},
	year = {2017},
	note = {(based on senior thesis, awarded Harvard Hoopes Prize)},
	abstract = {
	Can overtrust in robots compromise physical security? We posi- tioned a robot outside a secure-access student dormitory and made it ask passersby for access. Individual participants were as likely to assist the robot in exiting the dormitory (40\% assistance rate, 4/10 individuals) as in entering (19\%, 3/16 individuals). Groups of people were more likely than individuals to assist the robot in entering (71\%, 10/14 groups). When the robot was disguised as a food delivery agent for the ctional start-up Robot Grub, individ- uals were more likely to assist the robot in entering (76\%, 16/21 individuals). Lastly, participants who identied the robot as a bomb threat demonstrated a trend toward assisting the robot (87\%, 7/8 individuals, 6/7 groups). us, overtrust{\textemdash}the unfounded belief that the robot does not intend to deceive or carry risk{\textemdash}can represent a signicant threat to physical security at a university dormitory.\&nbsp;

},
	url = {files/ssr/files/hri2017-booth.pdf},
	author = {Serena Booth and James Tompkins and Hanspeter Pfister and Jim Waldo and Krzysztof Gajos and Radhika Nagpal}
}
@article {1062711,
	title = {Collective strategy for obstacle navigation during cooperative transport by ants},
	journal = {Journal of Experimental Biology},
	volume = {219},
	number = {21},
	year = {2016},
	pages = {3366-3375},
	abstract = {
	Group cohesion and consensus have primarily been studied in the context of discrete decisions, but some group tasks require making serial decisions that build on one another. We examine such collective problem solving by studying obstacle navigation during cooperative transport in ants. In cooperative transport, ants work together to move a large object back to their nest. We blocked cooperative transport groups of\&nbsp;Paratrechina longicornis\&nbsp;with obstacles of varying complexity, analyzing groups{\textquoteright} trajectories to infer what kind of strategy the ants employed. Simple strategies require little information, but more challenging, robust strategies succeed with a wider range of obstacles. We found that transport groups use a stochastic strategy that leads to efficient navigation around simple obstacles, and still succeeds at difficult obstacles. While groups navigating obstacles preferentially move directly toward the nest, they change their behavior over time; the longer the ants are obstructed, the more likely they are to move away from the nest. This increases the chance of finding a path around the obstacle. Groups rapidly changed directions and rarely stalled during navigation, indicating that these ants maintain consensus even when the nest direction is blocked. Although some decisions were aided by the arrival of new ants, at many key points, direction changes were initiated within the group, with no apparent external cause. This ant species is highly effective at navigating complex environments, and implements a flexible strategy that works for both simple and more complex obstacles.

},
	url = {http://jeb.biologists.org/content/jexbio/219/21/3366.full.pdf},
	author = {Helen F. McCreery and Zachary A. Dix and Michael D. Breed and Radhika Nagpal}
}
@conference {1062716,
	title = {Programmable Self-Disassembly for Shape Formation in Large-Scale Robot Collectives},
	booktitle = {13th International Symposium on Distributed Autonomous Robotic Systems (DARS)},
	year = {2016},
	abstract = {We present a method for a large-scale robot collective to autonomously form a wide range of user-specified shapes. In contrast to most existing work, our method uses a subtractive approach rather than an additive one, and is the first such method to be demonstrated on robots that operate in continuous space. An initial dense, stationary configuration of robots distributively forms a coordinate system, and each robot decides if it is part of the desired shape. Non-shape robots then re- move themselves from the configuration using a single external light source as a motion guide. The subtractive approach allows for a higher degree of motion paral- lelism than additive approaches; it is also tolerant of much lower-precision motion. Experiments with 725 Kilobot robots allow us to compare our method against an additive one that was previously evaluated on the same platform. The subtractive method leads to higher reliability and an order-of-magnitude improvement in shape formation speed.\&nbsp;\&nbsp;},
	author = {Melvin Gauci and Radhika Nagpal and Michael Rubenstein}
}
@conference { 20,
	title = {Towards Self-assembled Structures with Mobile Climbing Robots},
	booktitle = {Intl. Conference on Robotics and Automation (ICRA)},
	year = {2015},
	url = {files/ssr/files/icra15-cucu.pdf},
	author = {Lucian Cucu and Michael Rubenstein and Radhika Nagpal}
}
@conference { 19,
	title = {AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education},
	booktitle = {Intl. Conference on Robotics and Automation (ICRA)},
	year = {2015},
	url = {files/ssr/files/icra15-aerobot.pdf},
	author = {Michael Rubenstein and Bo Cimino and Radhika Nagpal and Werfel, Justin}
}
@article { 21,
	title = {Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors},
	journal = {Behavioural Processes},
	volume = {116},
	year = {2015},
	pages = {8-11},
	url = {http://www.sciencedirect.com/science/article/pii/S0376635715001023},
	author = {Kirstin Petersen and Paul Bardunias and Nils Napp and Werfel, Justin and Radhika Nagpal and J. Scott Turner}
}
@mastersthesis { 22,
	title = {Seaturtle: A low-cost underwater Robot},
	year = {2015},
	url = {files/ssr/files/es100-2015-budd.pdf},
	author = {Johnathan Budd}
}
@article { 33,
	title = {Designing Collective Behavior in a Termite-Inspired Robot Construction Team},
	journal = {Science},
	volume = {343},
	number = {6172},
	year = {2014},
	note = {PDF (Front Cover)\&nbsp;-\&nbsp;Supplement and Movies\&nbsp;\&nbsp;-\&nbsp;Perspective\&nbsp;-\&nbsp;Science\&nbsp;Top10},
	abstract = {Complex systems are characterized by many independent components whose low-level actions produce collective high-level results. Predicting high-level results given low-level rules is a key open challenge; the inverse problem, finding low-level rules that give specific outcomes, is in general still less understood. We present a multi-agent construction system inspired by mound-building termites, solving such an inverse problem. A user specifies a desired structure, and the system automatically generates low-level rules for independent climbing robots that guarantee production of that structure. Robots use only local sensing and coordinate their activity via the shared environment. We demonstrate the approach via a physical realization with three autonomous climbing robots limited to onboard sensing. This work advances the aim of engineering complex systems that achieve specific human-designed goals.},
	author = {Werfel, Justin and Kirstin Petersen and Radhika Nagpal}
}
@article { 28,
	title = {Programmable self-assembly in a thousand-robot swarm},
	journal = {Science},
	volume = {345},
	number = {6198},
	year = {2014},
	note = {PDF\&nbsp;-\&nbsp;Supplement and Movies\&nbsp;- Science Top10 Breakthroughs},
	abstract = {Self-assembly enables nature to build complex forms, from multicellular organisms to complex animal structures such as flocks of birds, through the interaction of vast numbers of limited and unreliable individuals. Creating this ability in engineered systems poses challenges in the design of both algorithms and physical systems that can operate at such scales. We report a system that demonstrates programmable self-assembly of complex two-dimensional shapes with a thousand-robot swarm. This was enabled by creating autonomous robots designed to operate in large groups and to cooperate through local interactions and by developing a collective algorithm for shape formation that is highly robust to the variability and error characteristic of large-scale decentralized systems. This work advances the aim of creating artificial swarms with the capabilities of natural ones.},
	author = {Michael Rubenstein and Alejandro Cornejo and Radhika Nagpal}
}
@article { 34,
	title = {Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation},
	journal = {Bioinspiration \& Biomimetics},
	volume = {9},
	number = {1},
	year = {2014},
	url = {http://iopscience.iop.org/1748-3190/9/1/016007},
	author = {Yong-Lae Park and Bor-Rong Chen and Nestor Presez-Arancibia and Diana Young and Leia Stirling and Wood, Robert and Eugene Goldfield and Radhika Nagpal}
}
@conference { 30,
	title = {Autonomous MAV guidance with a lightweight omnidirectional vision sensor},
	booktitle = {IEEE Intl. Conf on Robotics and Automation (ICRA)},
	year = {2014},
	url = {files/ssr/files/icra14-moore.pdf},
	author = {Richard Moore and Karthik Dantu and Geoffery Barrows and Radhika Nagpal}
}
@mastersthesis { 26,
	title = {Collective Construction by Termite-Inspired Robots},
	year = {2014},
	type = {phd},
	url = {files/ssr/files/phd14-petersen.pdf},
	author = {Kirstin Petersen}
}
@conference { 29,
	title = {Distributed Range-Based Relative Localization of Robot Swarms},
	booktitle = {Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR)},
	year = {2014},
	url = {files/ssr/files/wafr14-cornejo.pdf},
	author = {Alex Cornejo and Radhika Nagpal}
}
@conference { 31,
	title = {Robotic Construction of Arbitrary Shapes with Amorphous Materials},
	booktitle = {IEEE Intl. Conf on Robotics and Automation (ICRA)},
	year = {2014},
	url = {files/ssr/files/icra14-napp-shape.pdf},
	author = {Nils Napp and Radhika Nagpal}
}
@conference { 32,
	title = {Simple Passive Valves for Addressable Pneumatic Actuation},
	booktitle = {IEEE Intl. Conf on Robotics and Automation (ICRA)},
	year = {2014},
	url = {files/ssr/files/icra14-napp-valve.pdf},
	author = {Nils Napp and Brandon Araki and Michael T. Tolley and Radhika Nagpal and Wood, Robert J.}
}
@conference { 25,
	title = {Task Allocation in Ant Colonies},
	booktitle = {Intl. Symposium on Distributed Computing (DISC)},
	year = {2014},
	abstract = {In this paper we propose a mathematical model for studying the phenomenon of division of labor in ant colonies. Inside this model we investigate how simple task allocation mechanisms can be used to achieve an optimal division of labor. We believe the proposed model captures the essential biological features of division of labor in ant colonies and is general enough to study a variety of different task allocation mechanisms. Within this model we propose a distributed randomized algorithm for task allocation that imposes only minimal requirements on the ants; it uses a constant amount of memory and relies solely on a primitive binary feedback function to sense the current labor allocation. We show that with high probability the proposed algorithm converges to a near-optimal division of labor in time which is proportional to the logarithm of the colony size.},
	url = {files/ssr/files/disc14-cornejo.pdf},
	author = {Alex Cornejo and Anna Dornhaus and Lynch, Nancy and Radhika Nagpal}
}
@mastersthesis { 27,
	title = {Towards Self-Assembled Structures with Mobile Climbing Robots},
	year = {2014},
	type = {masters},
	url = {files/ssr/files/epflmasters14-cucu.pdf},
	author = {Lucian Cucu}
}
@conference { 40,
	title = {Collective Transport of Complex Objects by Simple Robots: Theory and Experiments},
	booktitle = {Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS)},
	year = {2013},
	url = {files/ssr/files/aamas13-rubenstein.pdf},
	author = {Mike Rubenstein and Adrian Cabrera and Werfel, Justin and Golnaz Habibi and James McLurkin and Radhika Nagpal}
}
@article { 37,
	title = {A computational framework for identifying design guidelines to increase the penetration of targeted nanoparticles into tumors},
	journal = {Nano Today},
	year = {2013},
	url = {files/ssr/files/nanotoday14-hauert.pdf},
	author = {Sabine Hauert and Spring Berman and Radhika Nagpal and Sangeeta N. Bhatia}
}
@article { 41,
	title = {Flight of the Robobees},
	journal = {Scientific American},
	year = {2013},
	author = {Wood, Robert and Radhika Nagpal and Gu-Yeon Wei}
}
@conference { 39,
	title = {Massive Uniform Manipulation: Controlling Large Populations of Simple Robots With a Common Input Signal},
	booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
	year = {2013},
	url = {files/ssr/files/iros13-becker.pdf},
	author = {Aaron Becker and Golnaz Habibi and Werfel, Justin and Michael Rubenstein and James McLurkin}
}
@conference { 38,
	title = {Message Passing Inference with Chemical Reaction Networks},
	booktitle = {Advances in Neural Information Processing Systems (NIPS)},
	year = {2013},
	url = {files/ssr/files/nips13-napp.pdf},
	author = {Nils Napp and Ryan Adams}
}
@conference { 46,
	title = {Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots},
	booktitle = {IEEE Intl. Conference on Robots and Systems (IROS)},
	year = {2012},
	url = {files/ssr/files/iros12-park.pdf},
	author = {Yong-Lae Park and Bor-Rong Chen and Carmel Majidi and Rob Wood and Radhika Nagpal and Eugene Goldfield}
}
@mastersthesis { 48,
	title = {Collective Transport in Large Swarms of Simple Robots},
	year = {2012},
	type = {masters},
	url = {files/ssr/files/epflmasters12-cabrera.pdf},
	author = {Adrian Cabrera}
}
@conference { 47,
	title = {A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle Collectives},
	booktitle = {IEEE Intl. Conference on Robots and Systems (IROS)},
	year = {2012},
	url = {files/ssr/files/iros12-dantu.pdf},
	author = {Karthik Dantu and Spring Berman and Bryan Kate and Radhika Nagpal}
}
@conference { 44,
	title = {Distributed Amorphous Ramp Construction in Unstructured Environments},
	booktitle = {Symposium on Distributed Autonomous Robotic Systems (DARS)},
	year = {2012},
	url = {files/ssr/files/dars12-napp.pdf},
	author = {Nils Napp and Radhika Nagpal}
}
@conference { 49,
	title = {Kilobot: A Low Cost Scalable Robot System for Collective Behaviors},
	booktitle = {IEEE Intl. Conf on Robotics and Automation (ICRA)},
	year = {2012},
	url = {files/ssr/files/icra12-rubenstein.pdf},
	author = {Michael Rubenstein and Christian Ahler and Radhika Nagpal}
}
@conference { 45,
	title = {Materials and Mechanisms for Amorphous Robotic Construction},
	booktitle = {IEEE Intl. Conference on Robots and Systems (IROS)},
	year = {2012},
	url = {files/ssr/files/iros12-napp.pdf},
	author = {Nils Napp and Olive Rappoli and Jessica Wu and Radhika Nagpal}
}
@conference { 50,
	title = {Simbeeotic: A Simulator and Testbed for Micro-Aerial Vehicle Swarm Experiments},
	booktitle = {Intl. Conf. on Information Processing in Sensor Networks (IPSN)},
	year = {2012},
	url = {files/ssr/files/ipsn12-kate.pdf},
	author = {Bryan Kate and Jason Waterman and Karthik Dantu and Welsh, Matt}
}
@article { 64,
	title = {Control of the Mitotic Cleavage Plane by Local Epithelial Topology},
	journal = {Cell},
	volume = {144},
	number = {3},
	year = {2011},
	note = {PDF - Cell Highlights},
	pages = {414-426},
	doi = {10.1016/j.cell.2011.12.035},
	author = {William Tyler Gibson and J. Veldhuis and B. Rubinstein and H. Cartwright and N. Perrimon and W. Brodland and Radhika Nagpal and Matthew C. Gibson}
}
@conference { 57,
	title = {Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System},
	booktitle = {Modular Robotics Workshop, Intl. Conference on Robots and Systems (IROS)},
	year = {2011},
	url = {files/ssr/files/iros11wksp-werfel.pdf},
	author = {Werfel, Justin and Kirstin Petersen and Radhika Nagpal}
}
@conference { 58,
	title = {Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance},
	booktitle = {Intl. Conference on Robots and Systems (IROS)},
	year = {2011},
	url = {files/ssr/files/iros11-hoff.pdf},
	author = {Nicholas Hoff and Wood, Robert and Radhika Nagpal}
}
@mastersthesis { 59,
	title = {Multi-Robot Foraging for Swarms of Simple Robots},
	year = {2011},
	type = {phd},
	url = {files/ssr/files/phd11-hoff.pdf},
	author = {Nicholas Hoff}
}
@conference { 55,
	title = {Optimization of Stochastic Strategies for Spatially Inhomogeneous Robot Swarms: A Case Study in Commercial Pollination},
	booktitle = {Intl. Conference on Robots and Systems (IROS)},
	year = {2011},
	url = {files/ssr/files/iros11-berman.pdf},
	author = {Spring Berman and Radhika Nagpal and Adam Halasz}
}
@conference { 53,
	title = {Programming Micro-Aerial Swarms with Karma},
	booktitle = {Intl. Conf. on Embedded Networked Sensor Systems (Sensys)},
	year = {2011},
	url = {files/ssr/files/sensys11-dantu.pdf},
	author = {Karthik Dantu and Bryan Kate and Jason Waterman and Bailis, Peter and Welsh, Matt}
}
@conference { 60,
	title = {TERMES: An Autonomous Robotic System for Three-Dimensional Collective Construction},
	booktitle = {Robotics: Science and Systems Conference (RSS)},
	year = {2011},
	author = {Kirstin Petersen and Radhika Nagpal and Werfel, Justin}
}
@mastersthesis { 54,
	title = {Topological biases and feedbacks in proliferating tissues},
	year = {2011},
	type = {phd},
	url = {files/ssr/files/phd11-gibson.pdf},
	author = {William Tyler Gibson}
}
@article { 62,
	title = {Applicability of Shape Memory Alloy Wire for an Active Soft Orthotic},
	journal = {Journal of Materials Engineering and Performance},
	year = {2011},
	url = {files/ssr/files/jmep11-stirling.pdf},
	author = {Leia Stirling and Chih-han Yu and Jason Miller and Eliot Hawkes and Rob Wood and Eugene Goldfield and Radhika Nagpal}
}
@conference { 56,
	title = {Bio-inspired Active Soft Orthotic Device for Ankle Foot Pathologies},
	booktitle = {Intl. Conference on Robots and Systems (IROS)},
	year = {2011},
	url = {files/ssr/files/iros11-park.pdf},
	author = {Yong-Lae Park and Bor-Rong Chen and Diana Young and Leia Stirling and Rob Wood and Eugene Goldfield and Radhika Nagpal}
}
@conference { 63,
	title = {Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2011},
	url = {files/ssr/files/icra11-berman.pdf},
	author = {Spring Berman and Vijay Kumar and and Radhika Nagpal}
}
@article { 61,
	title = {Kilobot: A Low Cost Scalable Robot System for Collective Behaviors},
	journal = {Technical Report TR-06-11},
	year = {2011},
	url = {ftp://ftp.deas.harvard.edu/techreports/tr-06-11.pdf},
	author = {Michael Rubenstein and Nicholas Hoff and Radhika Nagpal}
}
@conference { 72,
	title = {Biologically-Inspired Control for Multi-Agent Self-Adaptive Tasks},
	booktitle = {Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI)},
	year = {2010},
	url = {files/ssr/files/aaai10-yu.pdf},
	author = {Chih-han Yu and Radhika Nagpal}
}
@mastersthesis { 71,
	title = {Biologically-Inspired Control for Self-Adaptive Multiagent Systems},
	year = {2010},
	type = {phd},
	url = {files/ssr/files/phd10-yu.pdf},
	author = {Chih-han Yu}
}
@conference { 67,
	title = {Distributed Colony-Level Algorithm Switching for Robot Swarm Foraging},
	booktitle = {Intl Symposium on Distributed Autonomous Robotic Systems (DARS)},
	year = {2010},
	url = {files/ssr/files/dars10-nhoff.pdf},
	author = {Nicholas Hoff and Wood, Robert and Radhika Nagpal}
}
@conference { 75,
	title = {KiloBot: A Robotic Modules for Demonstrating Collective Behaviors},
	booktitle = {Modular Robotics Workshop, IEEE Intl. Conf. on Robotics and Automation (ICRA)},
	year = {2010},
	url = {files/ssr/files/icra2010-rubenstein-workshoppaper.pdf},
	author = {Mike Rubenstein and Radhika Nagpal}
}
@conference { 76,
	title = {Mechanical Design and Locomotion of Modular-Expanding Robots},
	booktitle = {Modular Robotics Workshop, IEEE Intl. Conf. on Robotics and Automation (ICRA)},
	year = {2010},
	url = {files/ssr/files/icra2010-belisle-workshoppaper.pdf},
	author = {Rebecca Belisle and Chih-han Yu and Radhika Nagpal}
}
@conference {1094661,
	title = {Positional Communication and Private Information in Honeybee Foraging Models},
	booktitle = {Intl. Conference on Swarms Intelligence (ANTs)},
	year = {2010},
	note = {PDF (Best Student Paper Award)},
	author = {Bailis, Peter and Radhika Nagpal and Werfel, Justin}
}
@conference { 68,
	title = {Two Foraging Algorithms for Robot Swarms Using Only Local Communication},
	booktitle = {IEEE International Conference on Robotics and Biomimetics (ROBIO)},
	year = {2010},
	url = {files/ssr/files/robio10-nhoff.pdf},
	author = {Nicholas Hoff and Amelia Sagoff and Wood, Robert J. and Radhika Nagpal}
}
@conference { 73,
	title = {Collective Decision-Making in Multi-Agent Systems by Implicit Leadership},
	booktitle = {Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS)},
	year = {2010},
	url = {files/ssr/files/aamas10-chihhan.pdf},
	author = {Chih-han Yu and Werfel, Justin and Radhika Nagpal}
}
@conference { 74,
	title = {Coordinating Collective Locomotion in an Amorphous Modular Robot},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2010},
	url = {files/ssr/files/icra10-chihhan.pdf},
	author = {Chih-han Yu and Werfel, Justin and Radhika Nagpal}
}
@article { 69,
	title = {A Self-Adaptive Framework for Modular Robots in Dynamic Environment: Theory and Applications},
	journal = {Intl Journal of Robotics Research},
	year = {2010},
	url = {files/ssr/files/ijrr10-yu.pdf},
	author = {Chih-han Yu and Radhika Nagpal}
}
@article { 78,
	title = {Modeling and Inferring Cleavage Patterns in Proliferating Epithelia},
	journal = {PLoS Comput Biol 5(6):e1000412},
	volume = {5},
	number = {6},
	year = {2009},
	pages = {1000412},
	url = {http://www.ploscompbiol.org/doi/pcbi.1000412},
	author = {Ankit Patel and William Tyler Gibson and Matt Gibson and Radhika Nagpal}
}
@conference { 79,
	title = {Self-Adapting Modular Robotics: A Generalized Distributed Consensus Framework},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2009},
	url = {files/ssr/files/iros09-yu.pdf},
	author = {Chih-han Yu and Radhika Nagpal}
}
@article { 87,
	title = {Epithelial topology. Problems and Paradigms},
	journal = {BioEssays},
	volume = {30},
	number = {3},
	year = {2008},
	pages = {260-266},
	url = {files/ssr/files/bioessays08-nagpal.pdf},
	author = {Radhika Nagpal and Ankit Patel and Matt Gibson}
}
@mastersthesis { 81,
	title = {Modeling and Inferring Cleavage Patterns in Proliferating Epithelia},
	year = {2008},
	type = {phd},
	url = {files/ssr/files/phd08-patel.pdf},
	author = {Ankit Patel}
}
@conference { 82,
	title = {Morpho: A Self-Deformable Modular Robot Inspired By Cellular Structure},
	booktitle = {IEEE Intl. Conference on Intelligent Robots and Systems (IROS)},
	year = {2008},
	url = {files/ssr/files/iros08-yu.pdf},
	author = {Chih-han Yu and Kristina Haller and Donald Ingber and Radhika Nagpal}
}
@conference { 86,
	title = {Sensing-based Shape Formation Tasks on Modular Multi-Robot Systems: A Theoretical Study},
	booktitle = {Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS)},
	year = {2008},
	url = {files/ssr/files/aamas08-chihhan.pdf},
	author = {Chih-han Yu and Radhika Nagpal}
}
@mastersthesis { 88,
	title = {A Theory of Local-to-Global Algorithms for One-Dimensional Spatial Multi-Agent Systems},
	year = {2008},
	type = {phd},
	url = {files/ssr/files/phd08-yamins.pdf},
	author = {Yamins, Daniel}
}
@article { 84,
	title = {Three-dimensional construction with mobile robots and modular blocks},
	journal = {International Journal of Robotics Research},
	volume = {27},
	number = {3-4},
	year = {2008},
	pages = {463-479},
	url = {files/ssr/files/ijrr08-werfel.pdf},
	author = {Werfel, Justin and Radhika Nagpal}
}
@conference { 83,
	title = {Towards Desynchronization of Multi-hop Topologies},
	booktitle = {IEEE Intl. Conf. on Self-Organising Systems (SASO)},
	year = {2008},
	url = {files/ssr/files/saso08-degesys.pdf},
	author = {Julius Degesys and Radhika Nagpal}
}
@conference { 85,
	title = {Automated Global-to-Local Programming in 1-D Spatial Multi-Agent Systems},
	booktitle = {Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS)},
	year = {2008},
	url = {files/ssr/files/aamas08-yamins.pdf},
	author = {Yamins, Daniel and Radhika Nagpal}
}
@conference { 92,
	title = {Collective Construction of Environmentally-adaptive Structures},
	booktitle = {IEEE Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	url = {files/ssr/files/iros07-jkwerfel.pdf},
	author = {Werfel, Justin and Donald Ingber and Radhika Nagpal}
}
@conference { 95,
	title = {DESYNC: Self-Organizing Desynchronization and TDMA on Wireless Sensor Networks},
	booktitle = {International Conference on Information Processing in Sensor Networks (IPSN)},
	year = {2007},
	url = {files/ssr/files/ipsn07-degesys.pdf},
	author = {Julius Degesys and Ian Rose and Ankit Patel and Radhika Nagpal}
}
@conference { 94,
	title = {Desynchronization: The Theory of Self-Organizing Algorithms for Round-Robin Scheduling},
	booktitle = {IEEE Conference on Self-Adaptive and Self-Organizing Systems (SASO)},
	year = {2007},
	url = {files/ssr/files/saso07-patel.pdf},
	author = {Ankit Patel and Julius Degesys and Radhika Nagpal}
}
@conference { 93,
	title = {Global-to-Local Programming: Design and Analysis for Amorphous Computers},
	booktitle = {IEEE Conference on Self-Adaptive and Self-Organizing Systems (SASO)},
	year = {2007},
	url = {files/ssr/files/saso-tutorial-overview.pdf},
	author = {Radhika Nagpal and Yamins, Daniel}
}
@conference { 96,
	title = {Macro Programming through Bayesian Networks: Distributed Inference and Anomaly Detection},
	booktitle = {IEEE International Conference on Pervasive Computing and Communication (Percom)},
	year = {2007},
	url = {files/ssr/files/percom07-mamei.pdf},
	author = {Marco Mamei and Radhika Nagpal}
}
@article { 91,
	title = {Self-organizing Environmentally-adaptive Shapes on a Modular Robot},
	journal = {and Systems (IROS)},
	year = {2007},
	url = {files/ssr/files/iros07-chihhan.pdf},
	author = {Chih-han Yu and FX Williems and Donald Ingber and Radhika Nagpal}
}
@conference { 90,
	title = {Towards a Common Comparison Framework for Global-to-Local Programming of Self-assembling Robotic Systems},
	booktitle = {Workshop on Self-reconfigurable Robot Systems and Applications, IEEE Conference on Intelligent Robots and Systems (IROS)},
	year = {2007},
	url = {ftp://ftp.deas.harvard.edu/techreports/tr-14-07.pdf},
	author = {Werfel, Justin and Radhika Nagpal}
}
@mastersthesis { 104,
	title = {Anthills Built to Order: Automating Construction with Artificial Swarms},
	year = {2006},
	type = {phd},
	url = {files/ssr/files/phd06-werfel.pdf},
	author = {Werfel, Justin}
}
@conference { 100,
	title = {Collective Construction Using Lego Robots},
	booktitle = {Robot Exhibition, National Conference on Artificial Intelligence},
	year = {2006},
	url = {files/ssr/files/aaai06-schuil.pdf},
	author = {Crystal Schuil and Matthew Valente and Werfel, Justin and Radhika Nagpal}
}
@conference { 101,
	title = {Distributed Construction by Mobile Robots with Enhanced Building Blocks},
	booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2006},
	url = {files/ssr/files/icra06-werfel.pdf},
	author = {Werfel, Justin and Bar-Yam, Yaneer and Daniela Rus and and Radhika Nagpal}
}
@article { 102,
	title = {Extended Stigmergy in Collective Construction},
	journal = {IEEE Intelligent Systems},
	volume = {21},
	number = {2},
	year = {2006},
	pages = {20-28},
	url = {files/ssr/files/ieeeis06-werfel.pdf},
	author = {Werfel, Justin and Radhika Nagpal}
}
@article { 103,
	title = {Self-Organizing Shape and Pattern: From Cells to Robots},
	journal = {IEEE Intelligent Systems},
	volume = {21},
	number = {2},
	year = {2006},
	url = {files/ssr/files/ieeeis06-nagpal.pdf},
	author = {Radhika Nagpal}
}
@conference { 98,
	title = {Three-dimensional Directed Construction by Mobile Robots},
	booktitle = {Workshop on Self-Reconfigurable Modular Robots, Robotics: Science and Systems (RSS)},
	year = {2006},
	url = {files/ssr/files/rsswk06-werfel.pdf},
	author = {Werfel, Justin and Radhika Nagpal}
}
@article { 99,
	title = {The Emergence of Geometric Order in Proliferating Metazoan Epithelia},
	journal = {Nature},
	volume = {442},
	number = {7106},
	year = {2006},
	note = {PDF - Supplement - Perspective},
	abstract = {The predominantly hexagonal cell pattern of simple epithelia was noted in the earliest microscopic analyses of animal tissues1, a topology commonly thought to reflect cell sorting into optimally packed honeycomb arrays2. Here we use a discrete Markov model validated by time-lapse microscopy and clonal analysis to demonstrate that the distribution of polygonal cell types in epithelia is not a result of cell packing, but rather a direct mathematical consequence of cell proliferation. On the basis of\&nbsp;in vivo\&nbsp;analysis of mitotic cell junction dynamics in\&nbsp;Drosophila\&nbsp;imaginal discs, we mathematically predict the convergence of epithelial topology to a fixed equilibrium distribution of cellular polygons. This distribution is empirically confirmed in tissue samples from vertebrate, arthropod and cnidarian organisms, suggesting that a similar proliferation-dependent cell pattern underlies pattern formation and morphogenesis throughout the metazoa.},
	author = {Gibson, Matthew and Ankit Patel and Radhika Nagpal and Perrimon, Norbert}
}
@conference { 107,
	title = {Building Patterned Structures with Robot Swarms},
	booktitle = {Intl. Joint Conference on Artificial Intelligence (IJCAI {\textquoteright}05)},
	year = {2005},
	url = {files/ssr/files/ijcai05-werfel.pdf},
	author = {Werfel, Justin and Bar-Yam, Yaneer and Radhika Nagpal}
}
@conference { 106,
	title = {Firefly-Inspired Sensor Network Synchronicity with Realistic Radio Effects},
	booktitle = {ACM Conference on Embedded Networked Sensor Systems (SenSys {\textquoteright}05)},
	year = {2005},
	url = {files/ssr/files/sensys05-werner.pdf},
	author = {Geoff Werner-Allen and Geetika Tewari and Ankit Patel and Welsh, Matt and Radhika Nagpal}
}
@conference { 108,
	title = {Robust and Self-repairing Formation Control for Swarms of Mobile Agents},
	booktitle = {National Conference on Artificial Intelligence (AAAI \&apos;05)},
	year = {2005},
	url = {files/ssr/files/aaai05-cheng.pdf},
	author = {Jimming Cheng and Winston Cheng and Radhika Nagpal}
}
@conference { 110,
	title = {Towards a Theory of "Local to Global" in Distributed Multi-Agent Systems (II)},
	booktitle = {Autonomous Agents and Multi Agent Systems Conferences (AAMAS)},
	year = {2005},
	url = {files/ssr/files/aamas05-yamins2.pdf},
	author = {Yamins, Daniel}
}
@conference { 109,
	title = {Towards a Theory of "Local to Global" in Distributed Multi-Agent Systems (I)},
	booktitle = {Autonomous Agents and Multi Agent Systems Conferences (AAMAS)},
	year = {2005},
	url = {files/ssr/files/aamas05-yamins1.pdf},
	author = {Yamins, Daniel}
}
@article { 113,
	title = {Self-reconfiguration using Directed Growth (for a modular robot)},
	journal = {International Symposium on Distributed Autonomous Robotic Systems (DARs)},
	year = {2004},
	url = {files/ssr/files/dars04-stoy.pdf},
	author = {Kasper Stoy and Radhika Nagpal and}
}
@conference { 112,
	title = {Self-repair and Scale-independent Self-reconfiguration (for a modular robot)},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2004},
	url = {files/ssr/files/iros04-stoy.pdf},
	author = {Kasper Stoy and Radhika Nagpal}
}
@article { 117,
	title = {Engineering Amorphous Computing Systems},
	journal = {Methodologies and Software Engineering for Agent Systems},
	year = {2003},
	url = {files/ssr/files/nagpal-mamei-chapter.pdf},
	author = {Radhika Nagpal and Marco Mamei}
}
@article { 115,
	title = {Experimental Results and Theoretical Analysis of a Self-Organizing Global Coordinate System for Ad Hoc Sensor Networks},
	journal = {Telecommunications Systems Journal},
	year = {2003},
	url = {files/ssr/files/tsjournal03-bachrach.pdf},
	author = {Jonathan Bachrach and Radhika Nagpal and Micheal Salib and Howard Shrobe}
}
@conference { 116,
	title = {Organizing a Global Coordinate System from Local Information on an Ad Hoc Sensor Network},
	booktitle = {Processing in Sensor Networks (IPSN {\textquoteright}03)},
	year = {2003},
	url = {files/ssr/files/ipsn03-nagpal.pdf},
	author = {Radhika Nagpal and Howard Shrobe and Jonathan Bachrach}
}
@conference { 119,
	title = {Programming Methodology for Biologically-Inspired Self-Assembling Systems},
	booktitle = {AAAI Spring Symposium on Computational Synthesis: From Basic Building Blocks to High Level Functionality},
	year = {2003},
	url = {files/ssr/files/aaaiSS03-nagpal.pdf},
	author = {Radhika Nagpal and Attila Kondacs and Catherine Chang}
}
@conference { 120,
	title = {Self-Assembly and Self-Repairing Topologies},
	booktitle = {Workshop on Adaptability in Multi-Agent Systems, RoboCup Australian Open},
	year = {2003},
	url = {files/ssr/files/arobocup03-clement.pdf},
	author = {Lauren Clement and Radhika Nagpal}
}
@conference { 118,
	title = {Towards a Catalog of Biologically-inspired Primitives},
	booktitle = {Workshop on Engineering Self-organising Applications, Autonomous Agents and Multiagents Systems Conference (AAMAS)},
	year = {2003},
	url = {files/ssr/files/esoa03-nagpal.pdf},
	author = {Radhika Nagpal}
}
@conference { 123,
	title = {Programmable Pattern-Formation and Scale-Independence},
	booktitle = {Proceedings of the 4th International Conference on Complex Systems (ICCS)},
	year = {2002},
	url = {files/ssr/files/ICCS02-nagpal.pdf},
	author = {Radhika Nagpal}
}
@conference { 122,
	title = {Programmable Self-Assembly Using Biologically-Inspired Multiagent Control},
	booktitle = {Proceedings of the 1st International Joint Conference on Autonomous Agents and Multi-Agent Systems (AAMAS)},
	year = {2002},
	url = {files/ssr/files/aamas02-nagpal.pdf},
	author = {Radhika Nagpal}
}
@mastersthesis { 124,
	title = {Programmable Self-Assembly: Constructing Global Shape Using Biologically-Inspired Local Interactions and Origami Mathematics},
	year = {2001},
	type = {phd},
	url = {http://www.swiss.ai.mit.edu/projects/amorphous/Progmat/nagpal-thesis.ps},
	author = {Radhika Nagpal}
}
@article { 125,
	title = {Amorphous Computing},
	journal = {Communications of the ACM},
	volume = {43},
	number = {5},
	year = {2000},
	url = {files/ssr/files/cacm2000-abelson.pdf},
	author = {Harold Abelson and Don Allen and Daniel Coore and Chris Hanson and George Homsy and Thomas Knight and Radhika Nagpal and Erik Rauch and Gerald Sussman and Weiss, Ron}
}
@conference { 126,
	title = {Programming Biological Cells},
	booktitle = {International Conference on Architectural Support for Programming Languages and Operating Systems, Wild \& Crazy Ideas Session},
	year = {1998},
	url = {files/ssr/files/asplos98-weiss.pdf},
	author = {Weiss, Ron and George Homsy and and Radhika Nagpal}
}
