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• A Set-Theoretic Approach to Multi-Task Execution and Prioritization
  2020 · 16 citations
• Passivity-based Decentralized Control Of Multi-robot Systems With Delays Using Control Barrier Functions
  2019 · 15 citations
• A Study of a Class of Vibration-Driven Robots: Modeling, Analysis, Control and Design of the Brushbot
  2019 · 8 citations
• An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
  2019 · 7 citations
• Safe Decentralized Density Control Of Multi-robot Systems Using Pde-constrained Optimization With State Constraints
  2025 · 3 citations
• Safety Of Dynamical Systems With Multiple Non-convex Unsafe Sets Using Control Barrier Functions
  2021 · 1 citations
• Safe and Energy-Aware Multi-Robot Density Control via PDE-Constrained Optimization for Long-Duration Autonomy
  2026
• ''it Is Much Safer To Be Sparse Than Connected'': Safe Control Of Robotic Swarm Density Dynamics With Pde-optimization With State Constraints