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.

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.

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.

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.