# overview
My research aims to synthesize and analyze complex, intelligent behavior in distributed systems that exploit their physical embedding to interact with the physical world.

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
1.2 Psychological And Socioeconomic Processes

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
3509 Transportation, Logistics And Supply Chains

# keywords[]
35 Commerce, Management, Tourism And Services

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Clinical Trials And Supportive Activities

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# keywords[]
4009 Electronics, Sensors And Digital Hardware

# keywords[]
4607 Graphics, Augmented Reality And Games

# keywords[]
4007 Control Engineering, Mechatronics And Robotics

# educationAndTraining[].organization.label
University of the Witwatersrand - (Johannesburg, South Africa)

# educationAndTraining[].field
Computational & Applied Mathematics, and Computer Science

# educationAndTraining[].organization.label
University of Southern California - (Los Angeles, California, United States)

# educationAndTraining[].organization.label
University of Southern California - (Los Angeles, California, United States)

# awardsAndHonors[].label
Faculty Early Career Development (CAREER) Program

# awardsAndHonors[].label
Montague Center for Teaching Excellence (CTE) Scholar

# publications[].label
Being there, being the RRT: Space-filling and searching in place with minimalist robots

# publications[].label
Unifying microscopic flocking motion models for virtual, robotic, and biological flock members

# publications[].label
Tunable Routing Solutions for Multi-Robot Navigation via the Assignment Problem: A 3D Representation of the Matching Graph

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
When to do your own thing: Analysis of cost uncertainties in multi-robot task allocation at run-time

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
A robust and tractable contact model for dynamic robotic simulation

# publications[].publisher
Association for Computing Machinery (ACM)

# publications[].label
Toward a language-theoretic foundation for planning and filtering

# publications[].label
Efficient Distributed State Estimation of Hidden Markov Models over Unreliable Networks

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Decentralized State Estimation via a Hybrid of Consensus and Covariance  intersection

# publications[].label
Bundling Policies for Sequential Stochastic Tasks in Multi-robot Systems

# publications[].label
Extensive Analysis of Linear Complementarity Problem (LCP) Solver Performance on Randomly Generated Rigid Body Contact Problems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Tackling Task Allocation Uncertainty via a Combinatorial Method

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Robots Going Round the Bend-A Comparative Study of Estimators for Anticipating River Meanders

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Cover Combinatorial Filters and Their Minimization Problem

# publications[].label
Abstractions for computing all robotic sensors that suffice to solve a planning problem

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Assignment Algorithms for Modeling Resource Contention in Multirobot Task Allocation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Inconsequential improprieties: Filter reduction in probabilistic worlds

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Multi-Robot Formation Morphing through a Graph Matching Problem

# publications[].label
Conditioning Style on Substance: Plans for Narrative Observation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Bound to help: cooperative manipulation of objects via compliant, unactuated tails

# publications[].label
Principled synthesis for large-scale systems: Task sequencing

# publications[].label
Large-scale multi-robot task allocation via dynamic partitioning and distribution

# publications[].label
On foraging strategies for large-scale multi-robot systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Space-Efficient Filters for Mobile Robot Localization from Discrete Limit Cycles

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Cost, Precision, and Task Structure in Aggression-Based Arbitration for Minimalist Robot Cooperation

# publications[].label
An Efficient Distributed Topo-Geometric Spatial Density Estimation Method for Multi-Robot Systems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Planning Coordinated Event Observation for Structured Narratives

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Lattices of sensors reconsidered when less information is preferred

# publications[].label
What does my knowing your plans tell me?

# publications[].label
Robot Design: Formalisms, Representations, and the Role of the Designer

# publications[].label
Distributed Robotic Sampling of Non-homogeneous SpatioTemporal Fields via Recursive Geometric Sub-division

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Decoupling stochastic optimal control problems for efficient solution:  insights from experiments across a wide range of noise regimes

# publications[].label
Self-organized Clustering of Square Objects by Multiple Robots

# publications[].label
A distributable and computation-flexible assignment algorithm: From local task swapping to global optimality

# publications[].label
Extending Open Dynamics Engine for Robotics Simulation

# publications[].label
Multi-robot formation morphing through a graph matching problem

# publications[].label
Assessing Optimal Assignment under Uncertainty: An Interval-based Algorithm

# publications[].label
Reality as a simulation of reality: robot illusions, fundamental limits,  and a physical demonstration

# publications[].label
On nondeterminism in combinatorial filters

# publications[].label
Flocking: don't need no stinkin robot recognition

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Behavior-Based Methods for Modeling and Structuring Control of Social Robots

# publications[].label
Modeling Contact Friction and Joint Friction in Dynamic Robotic Simulation Using the Principle of Maximum Dissipation

# publications[].label
Tractable Planning forCoordinated Story Capture: Sequential Stochastic Decoupling

# publications[].label
Sensor selection for detecting deviations from a planned itinerary

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Ergodic Dynamics for Large-Scale Distributed Robot Systems

# publications[].label
Beyond the Planning Potpourri: Reasoning About Label Transformations on Procrustean Graphs

# publications[].label
Robot spatial distribution and boundary effects matter in puck clustering

# publications[].label
Navigation and Localization via Wave Interference Patterns: An approach inspired by Marshallese Stick Charts

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Using a Compliant, Unactuated Tail to Manipulate Objects

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Physically routing robots in a multi-robot network: Flexibility through a three-dimensional matching graph

# publications[].label
Analyzing the Sensitivity of the Optimal Assignment in Probabilistic Multi-Robot Task Allocation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Helping Novices Avoid the Hazards of Data: Leveraging Ontologies to Improve Model Generalization Automatically with Online Data Sources

# publications[].label
Motion Planning for a Pair of Tethered Robots

# publications[].label
Toward a language-theoretic foundation for planning and filtering

# publications[].label
Fully Decentralized Task Swaps with Optimized Local Searching

# publications[].publisher
Robotics: Science and Systems Foundation

# publications[].label
Oblivious Sensor Fusion via Secure Multi-Party Combinatorial Filter Evaluation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Covering Space with Simple Robots: From Chains to Random Trees

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Set-labelled filters and sensor transformations

# publications[].label
Minimalist Robot Navigation and Coverage Using a Dynamical System Approach

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Directional Audio Beacon Deployment: An Assistive Multi-Robot Application

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Complete characterization of a class of privacy-preserving tracking problems

# publications[].label
Orienting Deformable Polygonal Parts without Sensors

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Efficient recursive distributed state estimation of hidden Markov models over unreliable networks

# publications[].label
Reports of the AAAI 2011 Spring Symposia

# publications[].label
Unifying Consensus and Covariance Intersection for Efficient Distributed State Estimation Over Unreliable Networks

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Coordinated multi-robot planning while preserving individual privacy

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Motion planning for a pair of tethered robots

# publications[].label
Robots in the Huddle: Upfront Computation to Reduce Global Communication at Run Time in Multirobot Task Allocation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Finding plans subject to stipulations on what information they divulge

# publications[].label
Sensor selection for detecting deviations from a planned itinerary

# publications[].label
Toward autonomous robotic containment booms: visual servoing for robust inter-vehicle docking of surface vehicles

# publications[].label
A Midsummer Night's Dream: Social proof in HRI

# publications[].publisher
Association for Computing Machinery (ACM)

# publications[].label
A distributed approach to load balance for multi-robot task allocation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase Separation Theory

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Multi-Level Partitioning and Distribution of the Assignment Problem for Large-Scale Multi-Robot Task Allocation

# publications[].label
Automatic design of discreet discrete filters

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Precise generalized contact point and normal determination for rigid body simulation

# publications[].publisher
Association for Computing Machinery (ACM)

# publications[].label
Improving the performance of self-organized robotic clustering: modeling and planning sequential changes to the division of labor

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Abstractions for computing all robotic sensors that suffice to solve a  planning problem

# publications[].label
Unifying Consensus and Covariance Intersection for Decentralized State Estimation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An Evaluation of Methods for Modeling Contact in Multibody Simulation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An MDP Model of Vehicle-Pedestrian Interaction at an Unsignalized Intersection

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Delineating boundaries of feasibility between robot designs

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
From selfish auctioning to incentivized marketing

# publications[].label
Assessing optimal assignment under uncertainty: An interval-based algorithm

# publications[].label
Hark! Who goes there? Concurrent association of communication channels for multiple mobile robots

# publications[].label
A Man-Packable Unmanned Surface Vehicle for Radiation Localization and Forensics

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Leveraging Ontologies to Improve Model Generalization Automatically with Online Data Sources

# publications[].publisher
Association for the Advancement of Artificial Intelligence (AAAI)

# publications[].label
Finding concise plans: Hardness and algorithms

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Ergodic Dynamics by Design: A Route to Predictable Multi-Robot Systems

# publications[].label
Computing Cell-Based Decompositions Dynamically for Planning Motions of Tethered Robots

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Multiplexing Robot Experiments: Theoretical Underpinnings, Conditions for Existence, and Demonstrations

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
The role of physical embodiment in human-robot interaction

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Finding Plans Subject to Stipulations on What Information They Divulge

# publications[].label
Experiments with Tractable Feedback in Robotic Planning under  Uncertainty: Insights over a wide range of noise regimes (Extended Report)

# publications[].label
A new model for self-organized robotic clustering: understanding boundary induced densities and cluster compactness

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Flocking: don't need no stinkin' robot recognition

# publications[].label
Reality as a simulation of reality: robot illusions, fundamental limits, and a physical demonstration

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Cover Combinatorial Filters and their Minimization Problem (Extended  Version)

# publications[].label
A POMDP Treatment of Vehicle-Pedestrian Interaction: Implicit Coordination via Uncertainty-Aware Planning

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Embodiment and Human-Robot Interaction: A Task-Based Perspective

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Planning Motions for a Planar Robot Attached to a Stiff Tether

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
An anytime assignment algorithm: From local task swapping to global optimality

# publications[].label
Concise Planning and Filtering: Hardness and Algorithms

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Complete characterization of a class of privacy-preserving tracking  problems

# publications[].label
Assignment Algorithms for Modeling Resource Contention and Interference in Multi-Robot Task-Allocation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Automatic Reduction of Combinatorial Filters

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Human Motion-Based Environment Complexity Measures for Robotics

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Non-Uniform Robot Densities in Vibration Driven Swarms Using Phase  Separation Theory

# publications[].label
On the Design of Minimal Robots That Can Solve Planning Problems

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Approximate Characterization of Multi-Robot Swarm "Shapes" in Sublinear-Time

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Examining the Information Requirements for Flocking Motion

# publications[].label
Experiments with Tractable Feedback in Robotic Planning Under Uncertainty: Insights over a Wide Range of Noise Regimes

# publications[].label
High-Fidelity Radio Communications Modeling for Multi-Robot Simulation

# publications[].publisher
Institute of Electrical and Electronics Engineers (IEEE)

# publications[].label
Communication constrained task allocation with optimized local task swaps

# researcherOn[].label
Collaborative Research: EAGER: Foundations of Secure Multi-Robot Computation

# researcherOn[].awardedBy.label
Directorate for Computer & Information Science & Engineering - (Arlington, Virginia, United States)

# researcherOn[].label
Survivable Networks of robots for Adversity: Recoverability and Expendability (S.N.A.R.E)

# researcherOn[].awardedBy.label
United States Department of Defense - (Washington D.C., District of Columbia, United States)

# researcherOn[].label
RI:Small:Collaborative Research:Why is automating the design of robot controllers hard, and what can be done about it?

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
RI: Medium: Collaborative Research: Decision-Making on Uncertain Spatial-Temporal Fields: Modeling, Planning and Control with Applications to Adaptive Sampling

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
CAREER: Bridging Self-Organized and Algorithmic Approaches to Multi-Robot Systems

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2012-2013) Student Travel Awards

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
ARL: Innovative Ecosystem Performance Research

# researcherOn[].awardedBy.label
United States Army - (Washington D.C., District of Columbia, United States)

# researcherOn[].label
NRI: A Model based Approach to Distributed Adaptive Sampling of Spatio-Temporally varying  Fields

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
S&AS: FND: COLLAB: Planning Coordinated Event Observation for Structured Narratives

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# researcherOn[].label
The 14th International Workshop on the Algorithmic Foundations of Robotics (WAFR'20) Student Travel Awards

# researcherOn[].awardedBy.label
National Science Foundation - (Arlington, Virginia, United States)

# streetAddress
Texas A&M University; Computer Science & Engineering; 3112 TAMU

# etdChairOf[].label
Liu, Lantao (2013-05). Linear Sum Assignment Algorithms for Distributed Multi-robot Systems. Doctoral Dissertation.

# etdChairOf[].label
Ahmed, Taahir David (2017-04). Dynamic Beamforming Without Phase Shifters. Master's Thesis.

# etdChairOf[].label
HosseiniTeshnizi, Reza (2015-08). Motion Planning for a Tethered Mobile Robot. Master's Thesis.

# etdChairOf[].label
Song, Yong (2013-05). Minimalist Multi-Robot Clustering of Square Objects: New Strategies, Experiments, and Analysis. Master's Thesis.

# etdChairOf[].label
Mitra, Tanushree (2011-08). Cost, Precision, and Task Structure in Aggression-based Arbitration for Minimalist Robot Cooperation. Master's Thesis.

# etdChairOf[].label
Ghoshal, Asish (2012-05). Rapidly-exploring Random Tree Inspired Multi-robot Space Coverage. Master's Thesis.

# etdChairOf[].label
Nam, Changjoo (2016-08). Assignment Algorithms for Multi-Robot Task Allocation in Uncertain and Dynamic Environments. Doctoral Dissertation.

# etdChairOf[].label
Kim, Young Ho (2017-05). Manipulating Objects using Compliant, Unactuated Tails: Modeling and Planning. Doctoral Dissertation.

# etdChairOf[].label
Kristek, Shawn (2011-12). Orienting Deformable Polygonal Parts without Sensors. Master's Thesis.

# etdChairOf[].label
Ivanov, Plamen (2015-08). Solving the Communication Channel Association Problem for Mobile Robots. Master's Thesis.

# etdChairOf[].label
Kim, Jung-Hwan (2015-12). New Models of Self-Organized Multi-Robot Clustering. Doctoral Dissertation.