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.

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.

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.