R. Wehbe and R. K. Williams. Probabilistic Graph Security for Networked Multi-Robot Systems. IEEE International Conference on Robotics and Automation, pages 7646-7653, 2018.

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, pages 1-9, 2018.

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, pages 1-8, 2018.

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, pages 1078-1083, 2018.

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.

R. K. Williams and G. S. Sukhatme. Observability in topology-constrained multi-robot target tracking. IEEE International Conference on Robotics and Automation, pages 1795-1801, 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 and G. S. Sukhatme. Constrained Interaction and Coordination in Proximity-Limited Multiagent Systems. IEEE Transactions on Robotics, volume 29, issue 4, pages 930-944, August 2013.

R. K. Williams and G. S. Sukhatme. Topology-constrained flocking in locally interacting mobile networks. IEEE International Conference on Robotics and Automation, pages 2002-2007, 2013.

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 and G. S. Sukhatme. Locally constrained connectivity control in mobile robot networks. IEEE International Conference on Robotics and Automation, pages 901-906, 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.

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, pages 1125-1130, 2012.

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, pages 4348-4353, 2011.