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 and G. S. Sukhatme. "Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems." IEEE Transactions on Robotics, 29 (4), 930-944, 2013. doi: 10.1109/TRO.2013.2257578.

R. Wehbe and R. K. Williams. "Probabilistic Graph Security for Networked Multi-Robot Systems." IEEE International Conference on Robotics and Automation, 2018. doi: 10.1109/ICRA.2018.8460752.

Y. Sung, A. K. Budhiraja, R. K. Williams, and P. Tokekar. "Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking." IEEE International Conference on Robotics and Automation, 2018. doi: 10.1109/ICRA.2018.8460974.

M. Fowler, P. Tokekar, T. C. Clancy, and R. K. Williams. "Constrained-Action POMDPs for Multi-Agent Intelligent Knowledge Distribution." IEEE International Conference on Robotics and Automation, 2018. doi: 10.1109/ICRA.2018.8461118.

L. Heintzman and R. K. Williams. "Nonlinear Observability of Unicycle Multi-Agent Teams Subject to Sensor Uncertainty and Environmental Disturbance." IEEE Conference on Decision and Control, 2018.

J. Liu and R. K. Williams. "Optimal Intermittent Deployment and Sensor Selection for Environmental Sensing with Multi-Robot Teams." IEEE International Conference on Robotics and Automation, 2018. doi: 10.1109/ICRA.2018.8460215.

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 and G. S. Sukhatme. "Observability in topology-constrained multi-robot target tracking." IEEE International Conference on Robotics and Automation, 2015. doi: 10.1109/ICRA.2015.7139431.

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 and G. S. Sukhatme. "Topology-constrained flocking in locally interacting mobile networks." IEEE International Conference on Robotics and Automation, 2013. doi: 10.1109/ICRA.2013.6630844.

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 and G. S. Sukhatme. "Locally constrained connectivity control in mobile robot networks." IEEE International Conference on Robotics and Automation, 2013. doi: 10.1109/ICRA.2013.6630680.

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.

R. K. Williams and G. S. Sukhatme. "Probabilistic spatial mapping and curve tracking in distributed multi-agent systems." IEEE International Conference on Robotics and Automation, 2012. doi: 10.1109/ICRA.2012.6224689.

R. K. Williams and G. S. Sukhatme. "Cooperative multi-agent inference over grid structured Markov random fields." IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011. doi: 10.1109/IROS.2011.6094872.