Selected Publications
Year range 2014 – 2026
2014 2026
Preprints
Motion-Uncertainty-Aware Next-Best-View Planning for Moving Object Reconstruction
, Mattia Mantovani, Robert J. Wood, Lorenzo Sabattini, andConfidence Boosts Trust-Based Resilience in Cooperative Multi-Robot Systems
Luca Ballotta, , , and Michal YeminiMulti-Agent Trustworthy Consensus under Random Dynamic Attacks
, Sarper Aydın, , and Angelia NedićWiFi-CSI Sensing and Bearing Estimation in Multi-Robot Systems: An Open-Source Simulation Framework
Brendan Dijkstra, , Alex Sloot, Matteo Marcantoni, Bayu Jayawardhana, , and Bahar HaghighatFast Distributed Optimization over Directed Graphs under Malicious Attacks using Trust
Arif Kerem Dayı, , , Michal Yemini, and Angelia Nedić
2026
Connectivity Maintenance for High-Speed Communication With Adversarial Jamming
, , , Collin Brady, Joseph Rottner, andDescription of a Collaborative Sperm Whale Birth and Shifts in Coda Vocal Styles During Key Events
Yaniv Aluma, Zethra Baron, Ricardo Barrett, Courtney Baumgartner, Gašper Beguš, , Michael M. Bronstein, Shlomi Dahan, Oscar Davis, Sarah de Haas, Jullan Defoe, Joseph DelPreto, Roberto Dessi, Roee Diamant, John Gatesy, Kevin George, Shane Gero, Darren Gibbons, Dean Gibbons, , Shafi Goldwasser, David F. Gruber, Odel Harve, Alyssa Hernandez, Mapal Ishay, , Lakshyana KC, Aidan Kenny, Antonio Leitao, Maxime Lucas, Alaa Maalouf, Peter Malkin, Yaly Mevorach, Stefano Pagani, Orr Paradise, Giovanni Petri, Simone Poetto, Emanuele Rossi, Daniela Rus, Michael Salino-Hugg, Andrea Santoro, Pratyusha Sharma, Dan Tchernov, Antonio Torralba, Pernille Tønnesen, Daniel M. Vogt, and Robert J. WoodWiSER-X: Wireless Signals-based Efficient Decentralized Multi-Robot Exploration without Explicit Information Exchange
, Meghna Behari, Robert J. Wood, and
2025
Characterization and Mitigation of Training Instabilities in Microscaling Formats
Huangyuan Su, Mujin Kwun, , Sham Kakade, and Nikhil AnandInterpreting the Linear Structure of Vision-Language Model Embedding Spaces
Isabel Papadimitriou, Huangyuan Su, Thomas Fel, Sham Kakade, andHow Physicality Enables Cy-Trust: A New Era of Trust-Centered Cyber–Physical Systems
, Michal Yemini, Arsenia Chorti, Angelia Nedić, H. Vincent Poor, and Andrea J. GoldsmithLearning Trust Over Directed Graphs in the Presence of Adversaries
, Arif Kerem Dayı, Angelia Nedić, andquasi-Dynamic Crowd Vetting: Collaborative Detection of Malicious Robots in Dynamic Communication Networks
, Frederik Mallmann-Trenn, David Saldaña, andReal-time Remote Tracking and Autonomous Planning for Whale Rendezvous using Robots
, , , , Kevin George, Robert Wood, andResilient Distributed Optimization for Multiagent Cyberphysical Systems
Michal Yemini, Angelia Nedić, Andrea J. Goldsmith, andStable Multi-Agent Routing with Bounded-Delay Adversaries in the Decision Loop
Roee M. Francos, , and
2024
Approximate Multiagent Reinforcement Learning for On-Demand Urban Mobility Problem on a Large Map
, , Dimitri P. Bertsekas, andCommunity Consensus: Converging Locally Despite Adversaries and Heterogeneous Connectivity
Cristina Gava, , , , and Frederik Mallmann-TrennMulti-Agent Resilient Consensus under Intermittent Faulty and Malicious Transmissions
Sarper Aydın, , , and Angelia NedićProjected Push-Pull for Distributed Constrained Optimization Over Time-Varying Directed Graphs
, Arif Kerem Dayı, , and Angelia NedićReinforcement Learning-Based Framework for Whale Rendezvous via Autonomous Sensing Robots
, , Daniel Vogt, Yaniv Aluma, Pernille Tonessen, Akarsh Prabhakara, Swarun Kumar, Shane Gero, Robert J. Wood, and Stephanie Gil.
2023
Exploiting Trust for Resilient Hypothesis Testing with Malicious Robots
, , Michal Yemini, Andrea J. Goldsmith, andLearning Trust Over Directed Graphs in Multiagent Systems
, Arif Kerem Dayı, , and Angelia NedićMulti-Robot Adversarial Resilience using Control Barrier Functions
, Beatrice Capelli, Lorenzo Sabattini, andMultiagent Reinforcement Learning: Rollout and Policy Iteration for POMDP with Application to Multi-Robot Problems
, Siva Kailas, Sahil Badyal, , and Dimitri BertsekasWi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing
, Anne Kemmeren, Daniel Son, Javier Alonso-Mora, and
2022
A Wireless Signal-based Sensing Framework for Robotics
, , Diana Zhang, Oussama Khatib, Swarun Kumar, andCloud-Cluster Architecture for Detection in Intermittently Connected Sensor Networks
Michal Yemini, , and Andrea J. GoldsmithResilience to Malicious Activity in Distributed Optimization for Cyberphysical Systems
Michal Yemini, Angelia Nedić, Andrea J. Goldsmith, andToolbox release: A wifi-based relative bearing framework for robotics
, , Diana Zhang, Swarun Kumar, and
2021
Characterizing Trust and Resilience in Distributed Consensus for Cyberphysical Systems
Michal Yemini, Angelia Nedić, Andrea J. Goldsmith, andDynamic Crowd Vetting: Collaborative Detection of Malicious Robots in Dynamic Communication Networks
, Frederik Mallmann-Trenn, David Saldana, andCrowd Vetting: Rejecting Adversaries via Collaboration with Application to Multi-Robot Flocking
Frederik Mallmann-Trenn, , andMultiagent Rollout and Policy Iteration for POMDP with Application to Multi-Robot Repair Problems
, Siva Kailas, Sahil Badyal, , and Dimitri Bertsekas
2020
Exploiting Local and Cloud Sensor Fusion in Intermittently Connected Sensor Networks
Michael Yemini, , and Andrea J. GoldsmithPlug-and-play supervisory control using muscle and brain signals for real-time gesture and error detection
Joseph DelPreto, Andres F Salazar-Gomez, , Ramin Hasani, Frank H Guenther, and Daniela RusReinforcement Learning for POMDP: Partitioned Rollout and Policy Iteration with Application to Autonomous Sequential Repair Problems
, Sahil Badyal, Thomas Wheeler, , and Dimitri Bertsekas
2019
Active Rendezvous for Multi-Robot Pose Graph Optimization using Sensing over Wi-Fi
, , Paul Vohs, Nathan Hughes, Mark Mazumder, andSwitching Topology for Resilient Consensus using Wi-Fi Signals
Thomas Wheeler, Ezhil Bharathi, and
2018
2017
Guaranteeing Spoof-Resilient Multi-Robot Networks
, Swarun Kumar, Mark Mazumder, Dina Katabi, and Daniela Rus
2015
Adaptive Communication in Multi-Robot Systems Using Directionality of Signal Strength
, Swarun Kumar, Dina Katabi, and Daniela Rus
2014
Accurate Indoor Localization with Zero Start-up Cost
Swarun Kumar, , Dina Katabi, and Daniela Rus