R. K. Williams, A. Gasparri, G. Ulivi, and G. S. Sukhatme. Generalized Topology Control for Nonholonomic Teams With Discontinuous Interactions. IEEE Transactions on Robotics, IEEE, volume 33, issue 4, pages 994-1001, 2017.

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, pages 293-300, 2017.

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, pages 3455-3460, 2017.

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, volume 14, issue 11, pages 2216-2228, November 2015.

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, pages 1255-1261, 2015.

D. Carboni, R. K. Williams, A. Gasparri, G. Ulivi, and G. S. Sukhatme. Rigidity-Preserving Team Partitions in Multiagent Networks. IEEE Transactions on Cybernetics, IEEE, volume 45, issue 12, pages 2640-2653, 2015.

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, pages 6101-6108, 2015.

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, pages 5010-5015, 2014.

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, volume 47, issue 3, pages 8085-8090, 2014.

R. K. Williams, A. Gasparri, and B. Krishnamachari. Route swarm: Wireless network optimization through mobility. IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 3775-3781, 2014.

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, pages 5381-5386, 2014.

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, IEEE, volume 30, issue 4, pages 950-965, 2014.

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, pages 5093-5099, 2013.

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, pages 6061-6066, 2013.