Refereed Conference Articles

A. Prorok, V. Kumar, Privacy-Preserving Vehicle Assignment for Mobility-on-Demand Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, to appear, PDF (preprint on arxiv)

F. Maushart, A. Prorok, M. A. Hsieh, V. Kumar, Intrusion Detection for Stochastic Task Allocation in Robot Swarms, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, to appear

D. Saldana, B. Gabrich, M. Whitzer, A. Prorok, M. F. M. Campos, M. Yim, and V. Kumar, A Decentralized Algorithm for Assembling Structures with Modular Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, to appear

D. Saldana, A. Prorok, S. Sundaram, M. F. M. Campos, V. Kumar, Resilient Consensus for Time-Varying Networks of Dynamic Agents, American Control Conference (ACC), 2017, PDF

C. di Franco, A. Prorok, N. Atanasov, B. Kempke, P. Dutta, V. Kumar, G. J. Pappas, Calibration-Free Network Localization using Non-Line-of-Sight Ultra-Wideband Measurements, ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN), 2017, PDF

A. Prorok, V. Kumar, Towards Differentially Private Aggregation of Heterogeneous Robots, 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2016. PDF

D. Saldana, A. Prorok, M. F. Campos, V. Kumar, Triangular Networks for Resilient Formations, 13th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2016. PDF

A. Prorok, V. Kumar, A Macroscopic Privacy Model for Heterogeneous Robot Swarms, International Conference on Swarm Intelligence, 2016, PDF

A. Prorok, M. A. Hsieh, V. Kumar, Formalizing the Impact of Diversity on Performance in a Heterogeneous Swarm of Robots, IEEE International Conference on Robotics and Automation (ICRA), 2016, PDF

A. Prorok, M. A. Hsieh, V. Kumar, Fast Redistribution of a Swarm of Heterogeneous Robots, International Conference on Bio-inspired Information and Communications Technologies, 2015, PDF (preprint)Best Paper Award 

A. Prorok and A. Martinoli, Accurate Localization with Ultra-Wideband: Tessellated Spatial Models and Collaboration, The 13th International Symposium on Experimental Robotics (ISER), Springer Tracts in Advanced Robotics, Vol. 88, pp. 321-335, 2013. PDF

A. Prorok, L. Gonon, A. Martinoli, Online Model Estimation of Ultra-Wideband TDOA Measurements for Mobile Robot Localization, IEEE International Conference on Robotics and Automation (ICRA), pp. 807-814, 2012. PDF

A. Prorok, A. Bahr, A. Martinoli, Low-Cost Collaborative Localization for Large-Scale Multi-Robot Systems, IEEE International Conference on Robotics and Automation (ICRA), pp. 4236-4241, 2012. PDF

A. Prorok and A. Martinoli, A Reciprocal Sampling Algorithm for Lightweight Distributed Multi-Robot Localization, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3241-3247, 2011. PDF

A. Prorok, P. Tomé, A. Martinoli, Accommodation of NLOS for Ultra-Wideband TDOA Localization in Single- and Multi-Robot Systems, International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2011. DOI: 10.1109/IPIN.2011.6071927. PDF

S. Gowal, A. Prorok, A. Martinoli, Two-phase Online Calibration for Infrared-based Inter-Robot Positioning Modules, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3313-3319, 2011. PDF

A. Prorok, A. Arfire, A. Bahr, J. R. Farserotu, A. Martinoli, Indoor Navigation Research with the Khepera III Mobile Robot: An Experimental Baseline with a Case-Study on Ultra-Wideband Positioning, International Conference on Indoor Positioning and Indoor Navigation (IPIN), 2010. DOI: 10.1109/IPIN.2010.5647880. PDF

A. Prorok, C. M. Cianci, A. Martinoli, Towards Optimally Efficient Field Estimation with Threshold- based Pruning in Real Robotic Sensor Networks, IEEE International Conference on Robotics and Automation (ICRA), pp. 5453-5459, 2010. PDF

M. Cianci, J. Nembrini, A. Prorok, A. Martinoli, Assembly of Configurations in a Networked Robotic System: A Case Study on a Reconfigurable Interactive Table Lamp, IEEE Swarm Intelligence Symposium (SIS), 2008. DOI: 10.1109/SIS.2008.4668318. PDF

Journal Articles

A. Prorok, V. Kumar, A Macroscopic Model for Differential Privacy in Dynamic Robotic Networks. Swarm Intelligence, under review. PDF (preprint on arxiv)

L. Guerrero-Bonilla, A. Prorok, V. Kumar, Formations for Resilient Robot Teams. IEEE Robotics and Automation Letters (R-AL), vol. 2, no. 2, pp. 841-848, DOI: 10.1109/LRA.2017.2654550. April 2017. Finalist for Best Multi-Robot Systems paper at ICRA 2017.

K. Saulnier, D. Saldana, A. Prorok, G. J. Pappas, V. Kumar, Resilient Flocking for Mobile Robot Teams. IEEE Robotics and Automation Letters (R-AL), vol. 2, no. 2, pp. 1039-1046, DOI: 10.1109/LRA.2017.2655142. April 2017 PDF (preprint)

A. Prorok, M. A. Hsieh, and V. Kumar. The Impact of Diversity on Optimal Control Policies for Heterogeneous Robot Swarms. IEEE Transactions on Robotics (T-RO), vol. 33, no. 2, pp. 346 – 358, DOI: 10.1109/TRO.2016.2631593. April 2017. PDF (preprint)

A. Prorok, M. A. Hsieh, V. Kumar, Adaptive Redistribution of a Swarm of Heterogeneous Robots, Special Issue, Workshop on Online Decision-Making in Multi-Robot Coordination, Acta Polytechnica Journal of Advanced Engineering, vol. 56, no. 1, DOI: 10.14311/APP.2016.56.0067,  Jan. 2016.

A. Prorok and A. Martinoli, Accurate Indoor Localization with Ultra-Wideband using Spatial Models and Collaboration, International Journal of Robotics Research (IJRR), vol. 33, no. 4, pp. 547-568, April 2014. PDF

A. Prorok, N. Correll, A. Martinoli, Multi-level Spatial Modeling for Stochastic Distributed Robotic Systems, The International Journal of Robotics Research (IJRR), vol. 30, pp. 574-589, April 2011. PDF

Book Chapters

A. Prorok, A. Bahr, A. Martinoli, Low-Cost Multi-Robot Localization, in Lecture Notes in Electrical Engineering: Redundancy in Robot Manipulators and Multi-Robot Systems, D. Milutinovic and J. Rosen, Eds. Springer, pp. 15-34, 2012. PDF

G. Mermoud, A. Prorok, L. Matthey, C. M. Cianci, N. Correll, A. Martinoli, Self-Organized Robotic Systems: Large-Scale Experiments in Aggregation and Self-Assembly using Miniature Robots, in Handbook of Collective Robotics, S. Kernbach, Ed., Pan Stanford Publishing, 2012. PDF

Workshop Articles

M. Pan, A. Prorok, P. Dames, M. Oehlberg, E. A. Lee, Integration of Robotic Systems into an IoT Framework via Accessors, Eleventh Biennial Ptolemy Miniconference, UC Berkeley, 2015

A. Prorok, W. C. Evans, A. Martinoli, An Adaptive Field Estimation Algorithm for Sensor Networks in Dynamic Environments, Workshop on Robotics for Environmental Monitoring; International Conference on Intelligent Robots and Systems (IROS), 2011. PDF

Theses

A. Prorok, Models and Algorithms for Ultra-Wideband Localization in Single- and Multi-Robot Systems, PhD Thesis, Ecole Polytechnique Federale de Lausanne EPFL, n° 5746, 2013. PDFABB Award; Best Thesis in Computer Science, Automation, Telecommunications

A. Prorok, Multi-Level Modeling of a Miniature Multi-Robot System for Inspection of Regular Structures, Masters Thesis, EÌcole Polytechnique Federale de Lausanne EPFL, 2006

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