R. K. Williams, A. Gasparri, G. Ulivi, and G. S. Sukhatme. "Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions." IEEE Transactions on Robotics, 33 (4), 994-1001, 2017. doi: 10.1109/TRO.2017.2683518.

A. Gasparri, R. K. Williams, A. Priolo, and G. S. Sukhatme. "Decentralized and Parallel Constructions for Optimally Rigid Graphs in R2." IEEE Transactions on Mobile Computing, 14 (11), 2216-2228, 2015. doi: 10.1109/TMC.2015.2393856.

D. Carboni, R. K. Williams, A. Gasparri, G. Ulivi, and G. S. Sukhatme. "Rigidity-Preserving Team Partitions in Multiagent Networks." IEEE Transactions on Cybernetics, 45 (12), 2640-2653, 2015. doi: 10.1109/TCYB.2014.2378552.

R. K. Williams, A. Gasparri, A. Priolo, and G. S. Sukhatme. "Evaluating Network Rigidity in Realistic Systems: Decentralization, Asynchronicity, and Parallelization." IEEE Transactions on Robotics, 30 (4), 950-965, 2014. doi: 10.1109/TRO.2014.2315713.

R. K. Williams, A. Gasparri, and G. Ulivi. "Decentralized matroid optimization for topology constraints in multi-robot allocation problems." IEEE International Conference on Robotics and Automation, 2017. doi: 10.1109/ICRA.2017.7989038.

P. Mukherjee, A. Gasparri, and R. K. Williams. "Stable motion and distributed topology control for multi-agent systems with directed interactions." IEEE Conference on Decision and Control, 2017. doi: 10.1109/CDC.2017.8264165.

R. K. Williams, A. Gasparri, G. S. Sukhatme, and G. Ulivi. "Global connectivity control for spatially interacting multi-robot systems with unicycle kinematics." IEEE International Conference on Robotics and Automation, 2015. doi: 10.1109/ICRA.2015.7139352.

R. K. Williams, A. Gasparri, M. Soffietti, and G. S. Sukhatme. "Redundantly rigid topologies in decentralized multi-agent networks." IEEE Conference on Decision and Control, 2015. doi: 10.1109/CDC.2015.7403179.

A. Priolo, R. K. Williams, A. Gasparri, and G. S. Sukhatme. "Decentralized algorithms for optimally rigid network constructions." IEEE International Conference on Robotics and Automation, 2014. doi: 10.1109/ICRA.2014.6907593.

D. Carboni, R. K. Williams, A. Gasparri, G. Ulivi, and G. S. Sukhatme. "Identifying Rigidity-Preserving Bipartitions in Planar Multi-Robot Networks." IFAC Proceedings Volumes, 47 (3), 8085-8090, 2014. doi: http://dx.doi.org/10.3182/20140824-6-ZA-1003.02074.

R. K. Williams, A. Gasparri, and B. Krishnamachari. "Route swarm: Wireless network optimization through mobility." IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014. doi: 10.1109/IROS.2014.6943092.

A. Gasparri, R. K. Williams, A. Leccese, and G. Ulivi. "Set Input-to-State Stability for spatially interacting multi-agent systems." IEEE Conference on Decision and Control, 2014. doi: 10.1109/CDC.2014.7040230.

R. K. Williams, A. Gasparri, A. Priolo, and G. S. Sukhatme. "Decentralized generic rigidity evaluation in interconnected systems." IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013. doi: 10.1109/IROS.2013.6697093.

R. K. Williams, A. Gasparri, A. Priolo, and G. S. Sukhatme. "Distributed combinatorial rigidity control in multi-agent networks." IEEE Conference on Decision and Control, 2013. doi: 10.1109/CDC.2013.6760847.