autolab.bib

%% This BibTeX bibliography file was created using BibDesk.
%% http://bibdesk.sourceforge.net/

@inproceedings{Nikdel2020,
publisher = {IEEE},
booktitle = {2020 17th Conference on Computer and Robot Vision (CRV)},
year = {2020},
month = {June},
title = {Recognizing and Tracking High-Level, Human-Meaningful Navigation Features of Occupancy Grid Maps},
author = {Payam Nikdel and Mo Chen and Richard Vaughan},
pdf = {doc/nikdel_crv2020.pdf}
}

@Article{Ling2019,
author={Ling, Hangjian
and Mclvor, Guillam E.
and Westley, Joseph
and van der Vaart, Kasper
and Vaughan, Richard T.
and Thornton, Alex
and Ouellette, Nicholas T.},
title={Behavioural plasticity and the transition to order in jackdaw flocks},
journal={Nature Communications},
year={2019},
month={Nov},
day={15},
volume={10},
number={1},
pages={5174},
abstract={Collective behaviour is typically thought to arise from individuals following fixed interaction rules. The possibility that interaction rules may change under different circumstances has thus only rarely been investigated. Here we show that local interactions in flocks of wild jackdaws (Corvus monedula) vary drastically in different contexts, leading to distinct group-level properties. Jackdaws interact with a fixed number of neighbours (topological interactions) when traveling to roosts, but coordinate with neighbours based on spatial distance (metric interactions) during collective anti-predator mobbing events. Consequently, mobbing flocks exhibit a dramatic transition from disordered aggregations to ordered motion as group density increases, unlike transit flocks where order is independent of density. The relationship between group density and group order during this transition agrees well with a generic self-propelled particle model. Our results demonstrate plasticity in local interaction rules and have implications for both natural and artificial collective systems.},
issn={2041-1723},
doi={10.1038/s41467-019-13281-4},
url={https://doi.org/10.1038/s41467-019-13281-4}
}


@inproceedings{thomas:iros2019,
  author = 	 {Jack Thomas and Richard Vaughan},
  title = 	 {Right of Way, Assertiveness and Social Recognition in Human-Robot Doorway Interaction},
  howpublished = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS}'19)},
  month = 	 {November},
  year = 	 {2019},
  pdf = {doc/thomas_iros2019.pdf},
  Address= {Macau, China},
}

@article{doi:10.1098/rsif.2019.0450,
author = {Ling, Hangjian  and Mclvor, Guillam E.  and Westley, Joseph  and van der Vaart, Kasper  and Yin, Jennifer  and Vaughan, Richard T.  and Thornton, Alex  and Ouellette, Nicholas T. },
title = {Collective turns in jackdaw flocks: kinematics and information transfer},
journal = {Journal of The Royal Society Interface},
volume = {16},
number = {159},
month = {October},
year = {2019},
doi = {10.1098/rsif.2019.0450},

URL = {https://royalsocietypublishing.org/doi/abs/10.1098/rsif.2019.0450},
pdf = {https://royalsocietypublishing.org/doi/pdf/10.1098/rsif.2019.0450},
abstract = { The rapid, cohesive turns of bird flocks are one of the most vivid examples of collective behaviour in nature, and have attracted much research. Three-dimensional imaging techniques now allow us to characterize the kinematics of turning and their group-level consequences in precise detail. We measured the kinematics of flocks of wild jackdaws executing collective turns in two contexts: during transit to roosts and anti-predator mobbing. All flocks reduced their speed during turns, probably because of constraints on individual flight capability. Turn rates increased with the angle of the turn so that the time to complete turns remained constant. We also find that context may alter where turns are initiated in the flocks: for transit flocks in the absence of predators, initiators were located throughout the flocks, but for mobbing flocks with a fixed ground-based predator, they were always located at the front. Moreover, in some transit flocks, initiators were far apart from each other, potentially because of the existence of subgroups and variation in individual interaction ranges. Finally, we find that as the group size increased the information transfer speed initially increased, but rapidly saturated to a constant value. Our results highlight previously unrecognized complexity in turning kinematics and information transfer in social animals. }
}


@article{Ling:RSocB2019,
Author = {Ling, Hangjian and Mclvor, Guillam E. and van der Vaart, Kasper and Vaughan, Richard T. and Thornton, Alex and Ouellette, Nicholas T.},
Title = {Local interactions and their group-level consequences in flocking jackdaws},
volume = {286},
number = {1906},
Journal = {Proc. R. Soc. B},
Doi = {http://doi.org/10.1098/rspb.2019.0865},
year = {2019},
month = {July},
pdf = {https://royalsocietypublishing.org/doi/pdf/10.1098/rspb.2019.0865}
}

@inproceedings{nagy_computational2019,
  author = {Geoff Nagy and Alex Thornton and Hangjian Ling and Guillam McIvor and Nicholas T. Ouellette and and Richard Vaughan},
  title = {Computational and Structural Advantages of Pairwise Flocking},
  booktitle = {Proceedings of the 2nd IEEE International Symposium on Multi-Robot and Multi-Agent Systems, ({MRS}'19)},
  address = {New Brunswick, NJ},
  month = {August},
  year = {2019},
  pdf = {http://www.sfu.ca/~gnagy/pdf/nagy_computational2019.pdf},
  abstract = {Biologists have shown that certain species of birds flock in groups at least partially composed of pairs, believed to be stable mate pairs. In this paper we consider synthetic flocks containing pairs, and show that this structure can be used to reduce paired agents' tracking workloads by approximately half, while also providing a more stable flock despite the fewer tracking interactions. We suggest this could be useful for constructing robust, real-world flocking systems.}
}

@article{Ling:NatureEE2019,
	Abstract = {Current understanding of collective behaviour in nature is based largely on models that assume that identical agents obey the same interaction rules, but in reality interactions may be influenced by social relationships among group members. Here, we show that social relationships transform local interactions and collective dynamics. We tracked individuals'three-dimensional trajectories within flocks of jackdaws, a species that forms lifelong pair-bonds. Reflecting this social system, we find that flocks contain internal sub-structure, with discrete pairs of individuals tied together by spring-like effective forces. Within flocks, paired birds interacted with fewer neighbours than unpaired birds and flapped their wings more slowly, which may result in energy savings. However, flocks with more paired birds had shorter correlation lengths, which is likely to inhibit efficient information transfer through the flock. Similar changes to group properties emerge naturally from a generic self-propelled particle model. These results reveal a critical tension between individual- and group-level benefits during collective behaviour in species with differentiated social relationships, and have major evolutionary and cognitive implications.},
	Author = {Ling, Hangjian and Mclvor, Guillam E. and van der Vaart, Kasper and Vaughan, Richard T. and Thornton, Alex and Ouellette, Nicholas T.},
	Doi = {10.1038/s41559-019-0891-5},
	Journal = {Nature Ecology & Evolution},
	Title = {Costs and benefits of social relationships in the collective motion of bird flocks},
	Ty = {JOUR},
	Url = {https://doi.org/10.1038/s41559-019-0891-5},
	Year = {2019},
}

@inproceedings{AzariBita2019CPiH,
abstract = {We present and characterize a simple and reliable method for detecting pointing gestures suitable for human-robot interaction applications using a commodity RGB-D camera. We exploit an existing Deep CNN model to robustly find hands and faces in RGB images, then examine the corresponding depth channel pixels to obtain full 3D pointing vectors. We test several methods of estimating the hand end-point of the pointing vector. The system runs at better than 30Hz on commodity hardware: exceeding the frame rate of typical RGB-D sensors. An estimate of the absolute pointing accuracy is found empirically by comparison with ground-truth data from a VICON motion-capture system, and the useful interaction volume established. Finally, we show an end-to-end test where a robot estimates where the pointing vector intersects the ground plane, and report the accuracy obtained. We provide source code as a ROS node, with the intention of contributing a commodity implementation of this common component in HRI systems.},
pages = {174--180},
publisher = {IEEE (also arXiv:1902.02636)},
booktitle = {2019 16th Conference on Computer and Robot Vision (CRV)},
year = {2019},
month = {June},
title = {Commodifying Pointing in HRI: Simple and Fast Pointing Gesture Detection from RGB-D Images},
author = {Bita Azari and Angelica Lim and Richard Vaughan},
url = {https://sfu-primo.hosted.exlibrisgroup.com/permalink/f/1u29dis/TN_ieee_s8781628},
pdf = {https://arxiv.org/pdf/1902.02636.pdf}
}

@inproceedings{gujjar:icra19,
	Author = {Pratik Gujjar and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'19})},
	Month = {May},
	Title = {Classifying Pedestrian Actions In Advance Using Predicted Video of Urban Driving Scenes},
	Year = {2019},
        Address= {Montreal, Canada},
  pdf = {doc/gujjar_icra19.pdf}
}

@mastersthesis{shamshirdar:msc,
        Author = {Faraz Shamshirdar},
        Pdf = {doc/shamshirdar_msc.pdf},
        School = {Simon Fraser University},
        Title = {Deep Neural Networks for Robot Navigation Using Visual Teach and Repeat},
        Month = {May},
        Year = {2019}
}


@inproceedings{:icra19,
	Author = {Rakesh Shrestha and Fei-Peng Tian and Wei Feng and Ping Tan and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'19})},
	Month = {May},
	Title = {Learned Map Prediction for Enhanced Mobile Robot Exploration},
	Year = {2019},
        Address= {Montreal, Canada},
  pdf = {doc/shrestha_icra19.pdf}
}

@inproceedings{bignell:icra19,
	Author = { Adam Bignell and Lily Lee and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'19})},
	Month = {May},
	Title = {Open-Loop Collective Assembly Using a Light Field to Power and Control a Phototaxic Mini-Robot Swarm
},
	Year = {2019},
        Address= {Montreal, Canada},
  pdf = {doc/bignell_icra19.pdf}
}

@mastersthesis{azari:msc,
        Author = {Bita Azari},
        Pdf = {doc/azari_msc.pdf},
        School = {Simon Fraser University},
        Title = {Commodifying Pointing in HRI: Simple and Fast Pointing Gesture Detection from RGB-D Images},
        Month = {April},
        Year = {2019}
}


@misc{nikdel2019recognizing,
    title={Recognizing and Tracking High-Level, Human-Meaningful Navigation Features of Occupancy Grid Maps},
    author={Payam Nikdel and Richard Vaughan},
    year={2019},
    month = {January},
    eprint={1903.03669},
    archivePrefix={arXiv},
    primaryClass={cs.RO},
    pdf = {https://arxiv.org/pdf/1903.03669v1.pdf}
}

@article {Ling:interface2018,
	author = {Ling, Hangjian and Mclvor, Guillam E. and Nagy, Geoff and MohaimenianPour, Sepehr and Vaughan, Richard T. and Thornton, Alex and Ouellette, Nicholas T.},
	title = {Simultaneous measurements of three-dimensional trajectories and wingbeat frequencies of birds in the field},
	volume = {15},
	number = {147},
	year = {2018},
	doi = {10.1098/rsif.2018.0653},
	publisher = {The Royal Society},
	abstract = {Tracking the movements of birds in three dimensions is integral to a wide range of problems in animal ecology, behaviour and cognition. Multi-camera stereo-imaging has been used to track the three-dimensional (3D) motion of birds in dense flocks, but precise localization of birds remains a challenge due to imaging resolution in the depth direction and optical occlusion. This paper introduces a portable stereo-imaging system with improved accuracy and a simple stereo-matching algorithm that can resolve optical occlusion. This system allows us to decouple body and wing motion, and thus measure not only velocities and accelerations but also wingbeat frequencies along the 3D trajectories of birds. We demonstrate these new methods by analysing six flocking events consisting of 50 to 360 jackdaws (Corvus monedula) and rooks (Corvus frugilegus) as well as 32 jackdaws and 6 rooks flying in isolated pairs or alone. Our method allows us to (i) measure flight speed and wingbeat frequency in different flying modes; (ii) characterize the U-shaped flight performance curve of birds in the wild, showing that wingbeat frequency reaches its minimum at moderate flight speeds; (iii) examine group effects on individual flight performance, showing that birds have a higher wingbeat frequency when flying in a group than when flying alone and when flying in dense regions than when flying in sparse regions; and (iv) provide a potential avenue for automated discrimination of bird species. We argue that the experimental method developed in this paper opens new opportunities for understanding flight kinematics and collective behaviour in natural environments.},
	issn = {1742-5689},
	URL = {http://rsif.royalsocietypublishing.org/content/15/147/20180653},
	pdf = {http://rsif.royalsocietypublishing.org/content/15/147/20180653.full.pdf},
	journal = {Journal of The Royal Society Interface}
}


@inproceedings{mohaimanian:iros2018,
  author = 	 {Sepehr {MohaimenianPour} and Richard Vaughan},
  title = 	 { Hands and Faces, Fast: Mono-Camera User Detection Robust Enough to Directly Control a UAV in Flight},
  howpublished = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS}'18)},
  month = 	 {October},
  year = 	 {2018},
        Address= {Montreal, Canada},
  pdf = {doc/mohaimenian_iros2018.pdf}
}

@inproceedings{thomas:iros2018,
  author = 	 {Jack Thomas and Richard Vaughan},
  title = 	 {After You: Doorway Negotiation for Human-Robot and Robot-Robot Interaction},
  howpublished = {Proceedings of the {IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS}'18)},
  month = 	 {October},
  year = 	 {2018},
  pdf = {doc/thomas_iros2018.pdf},
  Address= {Montreal, Canada},
}

@mastersthesis{gujjar:msc,
        Author = {Pratik Gujjar},
        Pdf = {doc/gujjar_msc.pdf},
        School = {Simon Fraser University},
        Title = {Reasoning About Pedestrian Intent by Future Video Prediction},
        Month = {November},
        Year = {2018}
}

@mastersthesis{shrestha:msc,
        Author = {Rakesh Shrestha},
        Pdf = {doc/shrestha_msc.pdf},
        School = {Simon Fraser University},
        Title = {3D Visual-Inertial Odometry and Autonomous Mobile Robot Exploration with Learned Map Prediction},
        Month = {December},
        Year = {2018}
}

@mastersthesis{nikdel:msc,
        Author = {Payam Nikdel},
        Pdf = {doc/nikdel_msc.pdf},
        School = {Simon Fraser University},
        Title = {Robot Following Ahead of the Leader and Learning Human-Relevant Navigational Cues},
        Month = {December},
        Year = {2018}
}

@mastersthesis{perron:msc,
        Author = {Jacob Perron},
        Pdf = {doc/perron_msc.pdf},
        School = {Simon Fraser University},
        Title = {Enabling Autonomous Mobile Robots in Dynamic Environments with Computer Vision},
        Month = {April},
        Year = {2018},
        video = {https://youtu.be/lZPrTs5eP0w}
}

@mastersthesis{mohaimenianpour:msc,
        Author = {Sepehr MohaimenianPour},
        Pdf = {doc/mohaimenianpour_msc.pdf},
        School = {Simon Fraser University},
        Title = {Robust Real-Time Hands-and-Face Detection for Human Robot Interaction},
        Month = {April},
        Year = {2018},
        video = {https://youtu.be/zGMZHEV429k}
}



@inproceedings{ghasemi:crv18,
  author    = {Amirmasoud Ghasemi Toudeshki and Faraz Shamshirdar and Richard Vaughan},
  title     = {Robust UAV Visual Teach and Repeat Using Only Sparse Semantic Object Features},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'18)},
  address = {Toronto, ON, Canada},
  month = {May},
  year      = {2018},
  pdf       = {doc/ghasemi_crv18.pdf},
}


@inproceedings{huang:icra18,
	Author = {Rui Huang and Danping Zou and Richard Vaughan and Ping Tan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'18})},
	Month = {May},
	Title = {Active Image-Based Modeling with a Toy Drone},
	Year = {2018},
  pdf = {doc/huang_icra18.pdf}
}


@inproceedings{nikdel:icra18,
	Author = {Payam Nikdel and Rakesh Shrestha and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'18})},
	Month = {May},
	Pdf = {doc/nikdel_icra18.pdf},
	Title = {The Hands-Free Push-Cart: Autonomous Following in Front by Predicting User Trajectory Around Obstacles},
	Year = {2018},
  pdf = {doc/nikdel_icra2018.pdf}
}

@Misc{mohaimanian:iros2017abs,
  author = 	 {Sepehr {MohaimenianPour} and Richard Vaughan},
  title = 	 {Robust Real-Time Hands-and-Face Detection for Human Robot Interaction},
  howpublished = {Abstract in Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'17), Vancouver, BC, Canada},
  month = 	 {September},
  year = 	 {2017},
  pdf = {doc/monhaimenian_iros2017abs.pdf}
}

@Misc{gujjar:iros2017abs,
   author = {Pratik Gujjar and Richard Vaughan},
   title = {DeepIntent: Learning to Model Pedestrian Intent in Autonomous Driving Scenarios},
   howpublished = {Abstract in Proceedings of the {IEEE} International
   Conference on Intelligent Robots and Systems ({IROS}'17), Vancouver, BC,
   Canada},
   month = {September},
   year = {2017},
   pdf = {doc/gujjar_iros17abs.pdf}
 }

@Misc{nagy:iros2017abs,
  author =      {Geoff Nagy and Richard Vaughan},
  title =       {Flying Face Engagement: Aligning a UAV to Directly Face a Moving Uninstrumented User},
  howpublished = {Abstract in Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'17), Vancouver, BC, Canada},
  month =       {September},
  year =        {2017},
  pdf = {doc/nagy_iros2017abs.pdf}
}

@Misc{thomas:iros17abs,
  author =      {Jack Thomas and Richard Vaughan},
  title =       {After You: Social Door Navigation for Human-Robot and Robot-Robot Interaction},
  howpublished = {Abstract in Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'17), Vancouver, BC, Canada},
  month =       {September},
  year =        {2017},
  pdf = {doc/thomas_iros17abs.pdf}
}

%% Saved with string encoding Unicode (UTF-8) 
@Misc{nikdel:iros17abs,
  author = 	 {Payam Nikdel, Rakesh Shrestha, Faraz Shamshirdar and Richard Vaughan},
  title = 	 {Training Wheels: Two-Phase Supervised and Reinforcement Transfer Learning Applied to Map Exploration},
  howpublished = {Abstract in Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'17), Vancouver, BC, Canada},
  month = 	 {September},
  year = 	 {2017}
}

@mastersthesis{lingkangzhang:msc,
        Author = {Lingkang Zhang},
        Pdf = {doc/zhang_mscc.pdf},
        School = {Simon Fraser University},
        Title = {A Gaze-based Attention System for Multi-human Multi-robot Interaction},
        Month = {April},
        Year = {2017},
        video = {https://youtu.be/tfglsy4MyGA}
}

@inproceedings{bruce:crv17,
  author    = {Jake Bruce and
               Jacob Perron and
               Richard Vaughan},
  title     = {Ready-Aim-Fly! Hands-Free Face-Based HRI for 3D Trajectory Control of {UAVs}},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'17)},
  address = {Edmonton, AB, Canada},
  month = {May},
  year      = {2017},
  pdf       = {doc/bruce_crv17.pdf},
}

@inproceedings{nagy:crv17,
  author    = {Geoff Nagy and
               Richard Vaughan},
  title     = {Self-Organization of a Robot Swarm into Concentric Shapes},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'17)},
  address = {Edmonton, AB, Canada},
  month = {May},
  year      = {2017},
  pdf       = {doc/nagy_crv17.pdf},
}

@inproceedings{abdelaal:crv17,
  author    = { Alaa Eldin Abdelaal and
               Maram Sakr and 
               Richard Vaughan},
  title     = {LOST Highway: a Multiple-Lane Ant-Trail Algorithm to Reduce Congestion in Large-Population Multi-Robot Systems},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'17)},
  address = {Edmonton, AB, Canada},
  month = {May},
  year      = {2017},
  pdf       = {doc/abdelaal_crv17.pdf},
}

@inproceedings{pourmehr:icra17,
	Author = {Shokoofeh Pourmehr and Jack Thomas and Jake Bruce and Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation ({ICRA'17})},
	Month = {May},
	Pdf = {doc/pourmehr_icra17.pdf},
	Title = {Robust Sensor Fusion for Finding HRI Partners in a Crowd},
	Year = {2017}
}

@phdthesis{monajjemi:phd,
	Author = {Mani Monajjemi},
	Month = {August},
	Pdf = {doc/monajjemi_phd.pdf},
	School = {Simon Fraser University},
	Title = {End-To-End and Direct Human-Flying Robot Interaction},
	Year = {2016}
}

@phdthesis{pourmehr:phd,
	Author = {Shokoofeh Pourmehr},
	Month = {December},
	Pdf = {doc/pourmehr_phd.pdf},
	School = {Simon Fraser University},
	Title = {Multimodal Interfaces for Human-Robot Interaction},
	Year = {2016}
}

@phdthesis{sadat:phd,
	Author = {Abbas Sadat},
	Month = {August},
	Pdf = {doc/sadat_thesis.pdf},
	School = {Simon Fraser University},
	Title = {Adaptive Path Planning for navigation and Sensing of Micro Aerial Vehicles},
	Year = {2016}
}


@inproceedings{zhang:iros16,
author = {Lingkang Zhang and Richard Vaughan},
title = {Optimal Robot Selection By Gaze Direction in Multi-Human Multi-Robot Interaction},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'16)},
	Month = {October},
	Pdf = {doc/zhang_iros16.pdf},
        video = {https://youtu.be/tfglsy4MyGA},
Year = {2016}
}


@inproceedings{monajjemi:iros16,
author = {Valiallah (Mani) Monajjemi and Sepehr MohaimenianPour and Richard Vaughan},
title = {UAV, Come To Me: End-to-End, Multi-Scale Situated HRI with an Uninstrumented Human and a Distant UAV},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'16)},
	Month = {October},
	Pdf = {doc/monajjemi_iros16.pdf},
        video = {https://youtu.be/6kKuGH0B8XY},
         Year = {2016}
}

@inproceedings{bruce:crv16,
  author    = {Jake Bruce and
               Valiallah (Mani) Monajjemi and
               Jens Wawerla and
               Richard Vaughan},
  title     = {{Tiny People Finder}: Long-Range Outdoor {HRI} by Periodicity Detection},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'16)},
  address = {Victoria, BC, Canada},
  month = {June},
  year      = {2016},
  pdf       = {doc/bruce_crv16.pdf},
  video       = {https://youtu.be/5XmkmdKJ1jY}
}

@misc{pourmehr:hri16,
author = {Shokoofeh Pourmehr and Jack Thomas and Richard Vaughan},
title = {What Untrained People Do When Asked ``Make The Robot Come To You'' (Late-breaking abstract)},
booktitle = {Proceedings of the 2016 ACM/IEEE International Conference on Human-robot Interaction},
series = {HRI '16},
year = {2016},
location = {Christchurch, New Zealand},
numpages = {2},
pdf = {doc/pourmehr_hri16.pdf},
video = {https://youtu.be/3cj7v6cq3Vc}
}

@misc{bruce:hri15team,
  title={Human-Robot Rendezvous by Co-operative Trajectory Signals},
  author={Jake Bruce and Jens Wawerla and Richard Vaughan},
  booktitle={10th ACM/IEEE International Conference on Human-Robot Interaction, Workshop on Human-Robot Teaming},
  year={2015},
 pdf       = {doc/bruce_hri15team.pdf},
  video       = {https://youtu.be/_gV8cmUsIhA}
}

@inproceedings{drums_mw15,
  author = {Monajjemi, Mani and Wawerla, Jens and Vaughan, Richard},
  title = {Drums: A Middleware-Aware Distributed Robot Monitoring System},
  booktitle = {Proceedings of the 12th Middleware Doctoral Symposium},
  series = {MDS '15},
  year = {2015},
  location = {Vancouver, Canada},
  numpages = {4},
  publisher = {ACM},
  pdf = {doc/monajjemi_mw15.pdf}
} 


@mastersthesis{bruce:msc,
        Author = {Jake Bruce},
        Pdf = {doc/jakebruce_thesis.pdf},
        School = {Simon Fraser University},
        Title = {Finding Tiny People: Long-Range Outdoor Sensing for Establishing Joint Attention in Human-Robot Interaction},
        Month = {December},
        Year = {2015},
  video       = {https://youtu.be/5XmkmdKJ1jY}
}


@misc{pourmehr:desrps15,
	Author = {Shokoofeh Pourmehr and Jake Bruce and Jens Wawerla and Richard Vaughan},
        Title = {A Sensor Fusion Framework for Finding an HRI Partner in Crowd},
  	Booktitle = {Workshop on Designing and Evaluating Social Robots for Public Settings, at IROS'15}, 
        Address= {Hamburg, Germany},
	Month = {September},
	Year = {2015},
	Pdf = {doc/pourmehr_desrps15.pdf}
}
@inproceedings{monajjemi:iros15,
	Address = {Hamburg, Germany},
	Author = {Mani Monajjemi and Jake Bruce and Seyed Abbas Sadat and Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'15)},
	Month = {October},
	Pdf = {doc/monajjemi_iros15.pdf},
	Title = {UAV, Do You See Me? Establishing Mutual Attention Between an Uninstrumented Human and an Outdoor UAV In Flight},
	Year = {2015}
}

@misc{perron:mvigro15,
	Author = {Jacob M. Perron and Rui Huang and Jack Thomas and Lingkang Zhang and Ping Tan and Richard Vaughan},
        Title = {Orbiting a Moving Target with Multi-Robot Collaborative Visual SLAM},
  	Booktitle = {Proceedings of the 3rd Workshop on Multi VIew Geometry in RObotics (MVIGRO) at Robotics Science and Systems (RSS'15)}, 
        Address= {Rome, Italy},
	Month = {July},
	Year = {2015},
	Pdf = {doc/perron_mvigro15.pdf}
}

@misc{bruce:icra15workshop,
	Author = {Jake Bruce and Jens Wawerla and Richard Vaughan}, 
        Title = {The SFU Mountain Dataset: Semi-Structured Woodland Trails Under Changing Environmental Conditions},
  	Booktitle = {Workshop on Visual Place Recognition in Changing Environments at the IEEE International Conference on Robotics and Automation (ICRA'15 workshop), Seattle, WA, USA},
	Month = {May},
	Year = {2015},
        Address= {Seattle, WA, USA},
	Pdf = {doc/bruce_icra15workshop.pdf}
}


@InProceedings{sadat:icra15,
  author = 	 {Seyed Abbas Sadat and Jens Wawerla and Richard Vaughan},
  title = 	 {Fractal Trajectories for Online Non-Uniform
Aerial Coverage},
	Booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA}'15)},
        Address = {Seattle, USA},
	Pdf = {doc/sadat_icra15.pdf},
	Month = {May},
	Year = {2015}
}

@misc {pourmehr:hriws15,
author = {Shokoofeh Pourmehr and Jens Wawerla and Richard Vaughan and Greg Mori},
title = {On the Scalability of Spatially Embedded Human Multi-Robot Interfaces},
booktitle = {Workshop on Human-Robot Teaming at the 10th of ACM/IEEE International Conference on Human-Robot Interaction ({HRI}'15)},
year = {2015},
address = {Portland, USA},
month = {March},
pdf = {doc/pourmehr_teaming_hri15.pdf}
}

@InProceedings{pourmehr:hrivideo15,
author = {Shokoofeh Pourmehr and Valiallah (Mani) Monajjemi and Jake Bruce and Jens Wawerla and Richard Vaughan} ,
Title = {Who Should I Approach? A probabilistic framework to determine the most likely person willing to have close interaction},
Booktitle = {Proc. of 10th {ACM}/{IEEE} International Conference on Human-Robot Interaction (Demo Session) ({HRI}'15)},
year = {2015},
address = {Portland, USA},
month = {March},
url = {https://www.youtube.com/watch?v=PLB6OQWqaUs},
pdf = {doc/pourmehr_demo_hri15.pdf}
}


@inproceedings{sadat:iros14,
	Address = {Chicago, USA},
	Author = {Seyed Abbas Sadat and Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'14)},
	Month = {September},
	Pdf = {doc/sadat_iros14.pdf},
	Title = {Recursive Non-Uniform Coverage of Unknown Terrains for UAVs},
	Year = {2014}
}


@InProceedings{sadat:icra14,
  author = 	 {Seyed Abbas Sadat and Kyle Chutskoff and Damir Jungic and Jens Wawerla and Richard Vaughan},
  title = 	 {Feature-Rich Path Planning for Robust Navigation of MAVs with Mono-SLAM},
	Booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation ({ICRA}'14)},
	Pdf = {doc/sadat_icra14.pdf},
	Month = {May},
	Year = {2014}
}

@inproceedings{monajjemi:crv14,
  author    = {Valiallah Monajjemi and
               Jens Wawerla and
               Richard Vaughan},
  title     = {Drums: {A} Middleware-Aware Distributed Robot Monitoring System},
  booktitle = {Conference on Computer and Robot Vision, ({CRV}'14)},
  address = {Montreal, QC, Canada},
  month = {May},
  year      = {2014},
  pages     = {211--218},
  pdf       = {doc/monajjemi_crv14.pdf},
  doi       = {10.1109/CRV.2014.36},
}

@misc{Pourmehr:hri14,
 author = {Shokoofeh Pourmehr and Valiallah (Mani) Monajjemi  and Seyed Abbas Sadat  and Fei Zhan and Jens Wawerla and Greg Mori and Richard Vaughan},
 title = {"You Are Green": A Touch-to-name Interaction in an Integrated Multi-modal Multi-robot {HRI} System (Late-breaking abstract)},
 booktitle = {Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction},
 series = {HRI '14},
 year = {2014},
 isbn = {978-1-4503-2658-2},
 location = {Bielefeld, Germany},
 pages = {266--267},
 numpages = {2},
 url = {http://doi.acm.org/10.1145/2559636.2559806},
  pdf = {doc/pourmehr_hri14_2.pdf}, 
 doi = {10.1145/2559636.2559806},
 acmid = {2559806},
 publisher = {ACM},
 address = {New York, NY, USA},
} 

@inproceedings{Monajjemi:hri14,
 author = {Valiallah (Mani) Monajjemi and Shokoofeh Pourmehr and Seyed Abbas Sadat and Fei Zhan and Jens Wawerla and Greg Mori and Richard Vaughan },
 title = {Integrating Multi-modal Interfaces to Command UAVs (Video)},
 booktitle = {Proceedings of the 2014 ACM/IEEE International Conference on Human-robot Interaction},
 series = {HRI '14},
 year = {2014},
 isbn = {978-1-4503-2658-2},
 location = {Bielefeld, Germany},
 pages = {106--106},
 numpages = {1},
 url = {http://doi.acm.org/10.1145/2559636.2559646},
 doi = {10.1145/2559636.2559646},
 acmid = {2559646},
 publisher = {ACM},
 address = {New York, NY, USA},
} 

@misc{pourmher:hripioneers14,
	Address = {Bielefeld, Germany},
	Author = {Shokoofeh Pourmehr},
	Booktitle = {HRI Pioneers Workshop @ HRI 2014},
	Month = {March},
	Pdf = {doc/pourmehr_hripioneers14.pdf},
	Title = {"You two, join Green": A Human Multi-Robot Interface for Creating and Commanding Teams of Robots},
	Year = {2014}
}


@inproceedings{monajjemi:iros13,
	Address = {Tokyo, Japan},
	Author = {Valiallah (Mani) Monajjemi and Jens Wawerla and Richard Vaughan and Greg Mori},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'13)},
	Month = {November},
	Pdf = {doc/monajjemi_iros13.pdf},
	Title = {HRI in the Sky: Creating and Commanding Teams of UAVs with a Vision-mediated Gestural Interface},
	Year = {2013},
video = {https://youtu.be/xHH3GvZ52xg}
}

@inproceedings{song:iros13,
	Address = {Tokyo, Japan},
	Author = {Zhao Song and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'13)},
	Month = {November},
	Pdf = {doc/song_iros13.pdf},
	Title = {Sustainable Robot Foraging: adaptive fine-grained multi-robot task allocation for Maximum Sustainable Yield of biological resources},
	Year = {2013}}

@inproceedings{pourmher:iros13,
	Address = {Tokyo, Japan},
	Author = {Shokoofeh Pourmehr and Valiallah Mani Monajjemi and Richard Vaughan and Greg Mori},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'13)},
	Month = {November},
	Pdf = {doc/pourmehr_iros13.pdf},
	Title = {"You two! Take off!": Creating, modifying and commanding groups of robots using face engagement and indirect speech in voice commands},
	Year = {2013},
video = {https://youtu.be/I8sJud-OApw}
}

@inproceedings{pourmehr:icra13,
	Author = {Shokoofeh Pourmehr and Mani Monajjemi and Jens Wawerla and Richard Vaughan and Greg Mori},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Month = {May},
	Pdf = {doc/pourmehr_icra13.pdf},
	Title = {A Robust Integrated System for Selecting and Commanding Multiple Mobile Robots},
	Year = {2013},
        video = {https://youtu.be/WLwb7gJOl8w}
}

@article{pantofaru:auro2013,
	Author = {Caroline Pantofaru and Sachin Chitta and Brian Gerkey and Radu B. Rusu and William D. Smart and Richard Vaughan},
	Date-Modified = {2013-11-17 00:19:15 +0000},
	Issn = {0929-5593},
	Journal = {Autonomous Robots},
	Language = {English},
	Number = {3},
	Pages = {129-131},
	Pdf = {doc/pantofaru_2013.pdf},
	Publisher = {Springer US},
	Title = {Special Issue on Open Source Software-Supported Robotics Research},
	Volume = {34},
	Year = {2013},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10514-013-9325-4}}

@misc{song:alife12,
	Address = {East Lansing, Michigan, USA},
	Author = {Zhao Song and Richard Vaughan},
	Booktitle = {Proceedings of the Thirteenth International Conference on Artificial Life (ALife XIII)},
	Month = {July},
	Pages = {595--596},
	Pdf = {doc/song_alife12.pdf},
	Publisher = {MIT Press},
	Title = {Multi-Robot, Multi-Patch Foraging with Maximum Sustainable Yield (extended abstract)},
	Year = {2012}}

@inproceedings{song:aamas12,
	Address = {Valencia, Spain},
	Author = {Zhao Song and Seyed Abbas Sadat and Richard Vaughan},
	Booktitle = {Proceedings of the Eleventh International Conference on Autonomous Agents and Multiagent systems},
	Month = {June},
	Optpages = {187-194},
	Pdf = {doc/song_aamas12.pdf},
	Projects = {transport},
	Title = {MO-LOST: Adaptive ant trail untangling in multi-objective multi-colony robot foraging},
	Year = {2012}}

@inproceedings{sadat:crv12,
	Author = {Abbas Sadat and Richard Vaughan},
	Booktitle = {Proceedings of the Conference on Computer and Robot Vision},
	Month = {May},
	Pdf = {doc/sadat_crv12.pdf},
	Title = {BRaVO: Biased Reciprocal Velocity Obstacles Break Symmetry in Dense Robot Populations},
	Year = {2012}}

@mastersthesis{saint-raymond:msc,
	Address = {Lausanne, Switzerland (research performed at SFU)},
	Author = {Louis Saint-Raymond},
	Month = {April},
	Pdf = {doc/saint-raymond_msc12.pdf},
	School = {Ecole Polytechnique Federale de Lausanne},
	Title = {Building of a mobile robot: Sensing or Moving, Time and Energy},
	Year = {2012}}

@techreport{vaughan:auro10,
	Author = {Richard Vaughan and Jens Wawerla},
	Institution = {Simon Fraser University Computing Science},
	Month = {April},
	Note = {RV-2012-1},
	Pdf = {doc/RV-2012-1.pdf},
	Title = {Publishing identifiable experiment code and configuration is important, good and easy.},
	Year = {2012}}
	
@misc{vaughan2012publishing,
    title={Publishing Identifiable Experiment Code And Configuration Is Important, Good and Easy},
    author={Richard Vaughan and Jens Wawerla},
    year={2012},
    month={April},
    eprint={1204.2235},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

@article{Biggs:RAM2011Og,
	Attachments = {http://www.willowgarage.com/sites/default/files/player_retrospective.pdf},
	Author = {Geoffrey Biggs and Radu Bogdan Rusu and Toby H.J. Collett and Brian P. Gerkey and Richard Vaughan},
	Journal = {IEEE Robotics and Automation Magazine},
	Note = {to appear},
	Pdf = {doc/player_retrospective.pdf},
	Title = {And all the robots merely Players},
	Year = {2012}}

@mastersthesis{milligan:msc,
	Author = {Brian Milligan},
	Pdf = {doc/milligan_msc_2012.pdf},
	School = {Simon Fraser University},
	Title = {Selecting And Commanding Groups Of Robots Using A Vision-Based Natural User Interface},
	Year = {2012},
video = {https://youtu.be/Fq2qTlSuGqs}
}

@misc{milligan:hri11,
	Address = {Lausanne, Switzerland},
	Author = {Brian Milligan and Greg Mori and Richard Vaughan},
	Booktitle = {Video Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction},
	Month = {March},
	Projects = {hri},
	Title = {Selecting and Commanding Groups of Robots in a Vision Based Multi-Robot System (video - winner of Best Video prize) },
	Year = {2011},
        video = {https://youtu.be/Fq2qTlSuGqs}
}

@mastersthesis{jabbari:msc,
	Author = {Pante a Jabbari},
	Pdf = {doc/jabbari_thesis2011.pdf},
	School = {Simon Fraser University},
	Title = {Isolating Sub-populations to Exploit Locality in Discounted Robot Foraging},
	Year = {2011}}

@phdthesis{litus:phd,
	Author = {Yaroslav Litus},
	Month = {January},
	Pdf = {doc/litus_thesis.pdf},
	Projects = {fasr},
	School = {Simon Fraser University},
	Title = {Using spatial embeddedness and physical embodiment for computation in multi-robot systems},
	Year = {2011}}

@inproceedings{wawerla:alife10,
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the Twelfth International Conference on Artificial Life (ALife XII)},
	Month = {August},
	Pdf = {doc/wawerla_alife2010.pdf},
	Title = {Online Robot Task Switching Under Diminishing Returns},
	Year = {2010}}

@inproceedings{sadat:alife10,
	Author = {Abbas Sadat and Richard Vaughan},
	Booktitle = {Proceedings of the Twelfth International Conference on Artificial Life (ALife XII)},
	Month = {August},
	Pdf = {doc/sadat_alife2010.pdf},
	Title = {SO-LOST: An ant-trail algorithm for multi-robot navigation with active interference reduction},
	Year = {2010}}

@inproceedings{litust:alife10,
	Author = {Yaroslav Litus and Richard Vaughan},
	Booktitle = {Proceedings of the Twelfth International Conference on Artificial Life (ALife XII)},
	Month = {August},
	Pdf = {doc/litus_alife2010.pdf},
	Title = {What can a sunflower teach a robot? Efficient robot queuing by reverse phyllotaxis},
	Year = {2010}}

@inproceedings{wawerla:icra10,
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Month = {May},
	Pdf = {doc/wawerla_icra10.pdf},
	Title = {A Fast and Frugal Method for Team-task Allocation in a Multi-robot Transportation System},
	Year = {2010}}

@inproceedings{sadat:icra10,
	Author = {Abbas Sadat and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	Month = {May},
	Pdf = {doc/sadat_ICRA10.pdf},
	Title = {Blinkered LOST: Restricting Sensor Field of View Can Improve Scalability in Emergent Multi-Robot Trail Following},
	Year = {2010}}

@inproceedings{litus:crv10,
	Author = {Yaroslav Litus and Richard Vaughan},
	Booktitle = {Proceedings of the Canadian Conference on Computer and Robot Vision},
	Month = {May},
	Pdf = {doc/litus_crv10.pdf},
	Projects = {mother},
	Title = {Fall in! Sorting a group of robots with a continuous controller},
	Year = {2010}}

@inproceedings{couturebeil:crv10,
	Author = {Alex Couture-Beil and Richard Vaughan and Greg Mori},
	Booktitle = {Proceedings of the Canadian Conference on Computer and Robot Vision},
	Month = {May},
	Pdf = {doc/couturebeil_crv10.pdf},
	Projects = {hri},
	Title = {Selecting and Commanding Individual Robots in a Vision-Based Multi-Robot System},
	Year = {2010}}

@phdthesis{wawerla:phd,
	Author = {Jens Wawerla},
	Month = {May},
	Pdf = {doc/wawerla_thesis.pdf},
	Projects = {fasr},
	School = {Simon Fraser University},
	Title = {Task Switching in Self-Sufficient Robots},
	Year = {2010}}

@misc{couturebeil:hri10,
	Address = {Osaka, Japan},
	Author = {Alex Couture-Beil and Richard Vaughan and Greg Mori},
	Date-Modified = {2013-11-17 00:19:15 +0000},
	Booktitle = {Video Proceedings of the 5th ACM/IEEE International Conference on Human-Robot Interaction},
	Month = {March},
	Note = {(nominated for Best Video award)},
	Projects = {hri},
	Title = {Selecting and Commanding Individual Robots in a Vision-Based Multi-Robot System},
	Year = {2010},
	Bdsk-Url-1 = {http://www.youtube.com/autonomylab#p/u/1/Vv-rYx73Uqs}}

@mastersthesis{lein:msc,
	Author = {Adam Lein},
	Pdf = {doc/lein_thesis2010.pdf},
	School = {Simon Fraser University},
	Title = {Adaptive Foraging in Robotic Swarms},
	Year = {2010}}

@techreport{vaughan:reportfasrfinal,
	Author = {Richard Vaughan and Jens Wawerla and Yaroslav Litus and Adam Lein and Alex Couture-Beil and Abbas Sadat and Greg Mori},
	Institution = {Defense R\&D Canada},
	Note = {Contract Scientific Authority Greg Broten. Copyright \copyright Her Majesty the Queen as represented by the Minister of National Defence, Canada.},
	Pdf = {doc/vaughan_fasr_final2010.pdf},
	Projects = {transport},
	Title = {Autonomous Sustain and Resupply: Final Report},
	Year = {2010}}

@mastersthesis{sadat:msc,
	Author = {Abbas Sadat},
	Pdf = {doc/sadat_thesis2010.pdf},
	School = {Simon Fraser University},
	Title = {Reducing Spatial Interference in Ant-Like Trail-Following for Multi-Robot Systems},
	Year = {2010}}

@mastersthesis{couturebeil:msc,
	Author = {Alex Couture-Beil},
	School = {Simon Fraser University},
	Title = {Selecting and Commanding Individual Robots in a Vision-Based Multi-Robot System},
	Year = {2010}}

@inproceedings{lein:iros09,
	Address = {St. Loius, MO},
	Author = {Adam Lein and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'09)},
	Month = {October},
	Pdf = {doc/lein_iros09.pdf},
	Projects = {transport},
	Title = {Adapting to non-uniform resource distributions in robotic swarm foraging through work-site relocation},
	Year = {2009}}

@inproceedings{couturebeil:iros09,
	Address = {St. Loius, MO},
	Author = {Alex Couture-Beil and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'09)},
	Month = {October},
	Pdf = {doc/couturebeil_iros09.pdf},
	Projects = {transport},
	Title = {Adaptive Mobile Charging Stations for Multi-Robot Systems},
	Year = {2009}}

@inproceedings{wawerla:iros09,
	Address = {St. Loius, MO},
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'09)},
	Month = {October},
	Pdf = {doc/wawerla_iros09.pdf},
	Projects = {transport},
	Title = {Robot Task Switching under Diminishing Returns},
	Year = {2009}}

@misc{wawerla:rss09,
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Workshop on Good Experimental Methodology in Robotics, at Robotics Science and Systems},
	Month = {June},
	Pdf = {doc/wawerla_rss09_workshop.pdf},
	Title = {Publishing Identifiable Experiment Code And Configuration Is Important, Good and Easy},
	Year = {2009}}

@inproceedings{bayazit:mva09,
	Author = {Mark Bayazit and Alex Couture-Beil and Greg Mori},
	Booktitle = {Proceedings of the IAPR Conference on Machine Vision Applications (MVA'09)},
	Month = {May},
	Note = {(with the Vision and Media Lab)},
	Pdf = {doc/bayazit_mva09.pdf},
	Title = {Real-time Motion-based Gesture Recognition using the GPU},
	Year = {2009}}

@article{litus:tro08,
	Author = {Yaroslav Litus and Pawel Zebrowski and Richard Vaughan},
	Journal = {IEEE Transactions on Robotics},
	Number = {1},
	Pages = {130-135},
	Pdf = {doc/litus_tro08.pdf},
	Projects = {mother trails transport},
	Title = {A Distributed Heuristic for Energy-Efficient Multi-Robot Multi-Place Rendezvous},
	Volume = {25},
	Year = {2009}}

@article{wawerla:jmva09,
	Author = {J. Wawerla and S. Marshall and G. Mori and K. Rothley and P. Sabzmeydani},
	Journal = {Journal of Machine Vision Applications},
	Number = {5},
	Pages = {303-317},
	Pdf = {doc/wawerla_jmva09.pdf},
	Title = {BearCam: Automated Wildlife Monitoring At The Arctic Circle},
	Volume = {20},
	Year = {2009},
        Month = {June}
}

@inproceedings{lein:alife08,
	Author = {Adam Lein and Richard Vaughan},
	Booktitle = {Proceedings of the Eleventh International Conference on Artificial Life (ALife XI)},
	Month = {August},
	Pdf = {doc/lein_alife08.pdf},
	Projects = {mother},
	Title = {Adaptive Multi-Robot Bucket Brigade Foraging},
	Year = {2008}}

@inproceedings{litus:alife08,
	Author = {Yaroslav Litus and Richard Vaughan},
	Booktitle = {Proceedings of the Eleventh International Conference on Artificial Life (ALife XI)},
	Month = {August},
	Pdf = {doc/litus_alife08.pdf},
	Projects = {mother},
	Title = {Distributed Gradient Optimization with Embodied Approximation},
	Year = {2008}}

@inproceedings{wawerla:alife08,
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the Eleventh International Conference on Artificial Life (ALife XI)},
	Month = {August},
	Pdf = {doc/wawerla_alife08.pdf},
	Projects = {mother},
	Title = {Optimal Robot Recharging for Time Discounted Labour},
	Year = {2008}}

@inproceedings{zuluaga:icra08,
	Author = {Mauricio Zuluaga and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
	Month = {May},
	Pdf = {doc/zuluaga_icra08.pdf},
	Title = {Modeling Multi-Robot Interaction Using Generalized Occupancy Grids, With Application To Reducing Spatial Interference},
	Year = {2008}}

@techreport{vaughan:reportfasr08,
	Author = {Richard Vaughan and Yaroslav Litus and Jens Wawerla and Adam Lein},
	Institution = {Defense R\&D Canada},
	Note = {Contract Scientific Authority Greg Broten. Copyright \copyright Her Majesty the Queen as represented by the Minister of National Defence, Canada.},
	Pdf = {doc/vaughan_fasr08.pdf},
	Projects = {transport},
	Title = {Autonomous Sustain and Resupply: Phase 1 report},
	Year = {2008}}

@article{vaughan:swarm08,
	Author = {Richard Vaughan},
	Journal = {Swarm Intelligence},
	Number = {2-4},
	Pages = {189-208},
	Pdf = {doc/vaughan_si08.pdf},
	Projects = {player},
	Title = {Massively Multi-Robot Simulations in Stage},
	Volume = {2},
	Year = {2008},
        Month = {December}
}

@inproceedings{wawerla:ecal07,
	Address = {Lisbon, Portugal},
	Author = {Jens Wawerla and Richard Vaughan},
	Booktitle = {Proceedings of the European Conference on Artificial Life (ECAL)},
	Month = {September},
	Pages = {776-785},
	Pdf = {doc/wawerla_ecal07.pdf},
	Projects = {mother},
	Title = {Near-Optimal Mobile Robot Recharging With The Rate-Maximizing Forager},
	Year = {2007}}

@article{mottaghi:auro07,
	Author = {Roozbeh Mottaghi and Richard Vaughan},
	Journal = {Autonomous Robots},
	Month = {July},
	Number = {1},
	Pages = {19-35},
	Pdf = {doc/mottaghi_auro07.pdf},
	Projects = {tracking},
	Title = {An Integrated Particle Filter and Potential Field Method Applied To Cooperative Multi-Robot Target Tracking},
	Volume = {23},
	Year = {2007}}

@misc{litus:rss_swarm_workshop,
	Author = {Yaroslav Litus and Richard Vaughan},
	Booktitle = {Refereed abstract at the Workshop on Algorithmic Equivalences Between Biological and Robotic Swarms},
	Month = {June},
	Projects = {swarm},
	Title = {Energy-efficient multi-robot rendezvous: Parallel solutions by embodied approximation},
	Year = {2007}}

@inproceedings{zebrwoski:crv07,
	Author = {Pawel Zebrowski and Yaroslav Litus and Richard Vaughan},
	Booktitle = {Proceedings of the Fourth Canadian Conference on Computer and Robot Vision},
	Month = {May},
	Pdf = {doc/zebrowski_crv07.pdf},
	Projects = {mother},
	Title = {Energy Efficient Robot Rendezvous},
	Year = {2007}}

@inproceedings{litus:icra07,
	Author = {Yaroslav Litus and Richard Vaughan and Pawel Zebrowski},
	Booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation},
	Month = {April},
	Pdf = {doc/litus_icra07.pdf},
	Projects = {mother},
	Title = {The Frugal Feeding Problem: Energy-efficient, multi-robot, multi-place rendezvous},
	Year = {2007}}

@incollection{Brugali:2007,
	Author = {Davide Brugali and Gregory S. Broten and Antonio Cisternino and Diego Colombo and Jannik Fritsch and Brian P. Gerkey and Gerhard Kraetzschmar and Richard Vaughan and Hans Utz},
	Booktitle = {Software Engineering for Experimental Robotics},
	Editor = {Davide Brugali},
	Month = {April},
	Pages = {259-266},
	Publisher = {Springer},
	Series = {Springer Tracts on Advanced Robotics},
	Title = {Trends in Robotic Software Frameworks},
	Year = {2007}}

@mastersthesis{karimian:msc,
	Author = {Pooya Karimian},
	School = {Simon Fraser University},
	Title = {Audio Communication for Mult-Robot Systems},
	Year = {2007}}

@incollection{vaughan:reallyreused,
	Author = {Richard Vaughan and Brian P. Gerkey},
	Booktitle = {Software Engineering for Experimental Robotics},
	Editor = {Davide Brugali},
	Pdf = {doc/vaughan_reallyreused.pdf},
	Projects = {player},
	Publisher = {Springer},
	Title = {Really Reused Robot Code from the Player/Stage Project},
	Year = {2007}}

@mastersthesis{zebrwoski:msc,
	Author = {Pawel Zebrowski},
	School = {Simon Fraser University},
	Title = {Tanker Based Robot Recharging},
	Year = {2007}}

@inproceedings{karimian:iros06,
	Author = {Pooya Karimian and Richard Vaughan and Sarah Brown},
	Booktitle = {Proceedings of the {IEEE} International Conference on Intelligent Robots and Systems ({IROS}'06)},
	Month = {October},
	Pdf = {doc/karimian_iros06.pdf},
	Projects = {transport},
	Title = {Sounds Good: Simulation and Evaluation of Audio Communication for Multi-Robot Exploration},
	Year = {2006}}

@misc{vaughan:sab06_poster,
	Address = {Rome, Italy},
	Author = {Richard Vaughan and Pouya Bastani and John Hutchison and Rose Hutchison},
	Booktitle = {Last-minute Results Poster at the International Conference on Simulation of Adaptive Behaviour (SAB)},
	Month = {September},
	Pdf = {doc/vaughan_sab06_poster.pdf},
	Projects = {misbehaviour},
	Title = {On the non-phenomenological use of the word `behaviour' in robotics and animat research},
	Year = {2006}}

@inproceedings{vaughan:sab06,
	Address = {Rome, Italy},
	Author = {Richard Vaughan and Mauricio Zuluaga},
	Booktitle = {Proceedings of the International Conference on Simulation of Adaptive Behaviour (SAB)},
	Month = {September},
	Pdf = {doc/vaughan_sab06.pdf},
	Projects = {imagination},
	Title = {Use your Illusion: Sensorimotor self-simulation allows complex agents to plan with incomplete self-knowledge},
	Year = {2006}}

@mastersthesis{zhang:msc,
	Author = {Yinan Zhang},
	Month = {July},
	School = {Simon Fraser University},
	Title = {Spatial Interference Reduction for Multi-Robot Systems Using Rational and Team-Based Aggression},
	Year = {2006}}

@inproceedings{mottaghi:icra06,
	Address = {Orlando, Florida},
	Author = {Roozbeh Mottaghi and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	Month = {May},
	Pdf = {doc/mottaghi_icra06.pdf},
	Projects = {tracking},
	Title = {An Integrated Particle Filter \& Potential Field Method for Cooperative Robot Target Tracking},
	Year = {2006}}

@inproceedings{vaughan:icra06,
	Address = {Orlando, Florida},
	Author = {Yinan Zhang and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	Month = {May},
	Pdf = {doc/zhang_icra06.pdf},
	Projects = {rage},
	Title = {Ganging up: Team-Based Aggression Expands the Population/Performance Envelope in a Multi-Robot System},
	Year = {2006}}

@mastersthesis{mottaghi:msc,
	Author = {Roozbeh Mottaghi},
	Month = {April},
	Projects = {tracking thesis},
	School = {Simon Fraser University},
	Title = {Cooperative Target Tracking With Multiple Mobile Robots},
	Year = {2006}}

@misc{vaughan:mobilemanip,
	Author = {Richard Vaughan and Brian P. Gerkey},
	Booktitle = {Invited paper, Tutorial on Robot Middleware and Integration Frameworks, B-IT tutorial, Bonn, Germany},
	Month = {December},
	Projects = {player},
	Title = {Player/Stage Project \& Getting to Grips with Mobile Manipulation Abstractions},
	Year = {2005}}

@mastersthesis{zuluaga:msc,
	Author = {Mauricio Zuluaga},
	Month = {September},
	Projects = {rage thesis},
	School = {Simon Fraser University},
	Title = {Rage Amongst the Machines: A Biological Approach to Spatial Interference in Multi-Robot Systems},
	Year = {2005}}

@inproceedings{zuluaga:iros05,
	Address = {Edmonton, Alberta},
	Author = {Mauricio Zuluaga and Richard Vaughan},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	Month = {August},
	Optpublisher = {IEEE/RSJ},
	Pdf = {doc/zuluagaIROS2005.pdf},
	Projects = {rage trails transport},
	Title = {Reducing Spatial Interference in Robot Teams by Local-Investment Aggression},
	Year = {2005}}

@inproceedings{brown:icar05,
	Address = {Seattle, Washington},
	Author = {Sarah Brown and Mauricio Zuluaga and Yinan Zhang and Richard Vaughan},
	Booktitle = {Proceedings of the International Conference on Advanced Robotics (ICAR)},
	Month = {July},
	Pdf = {doc/brown_icar05_submitted.pdf},
	Projects = {rage transport},
	Title = {Rational Aggressive Behaviour Reduces Interference in a Mobile Robot Team},
	Year = {2005}}

@inproceedings{zebrowski:icarl05,
	Address = {Seattle, Washington},
	Author = {Pawel Zebrowski and Richard Vaughan},
	Booktitle = {Proceedings of the International Conference on Advanced Robotics (ICAR)},
	Month = {July},
	Pdf = {doc/zebrowski_icar05_submitted.pdf},
	Projects = {mother recharge},
	Title = {Recharging Robot Teams: A Tanker Approach},
	Year = {2005}}

@misc{vaughan:icra05,
	Author = {Richard Vaughan and Brian P. Gerkey},
	Booktitle = {Invited paper, Workshop on Principle and Practice of Software Development in Robotics at the IEEE International Conference on Robotics and Automation (ICRA), Barcelona, Spain},
	Month = {April},
	Projects = {player},
	Title = {Really Reused Robot Code},
	Year = {2005}}

@misc{brown:sab04,
	Address = {Santa Monica, California},
	Author = {Sarah Brown and Mauricio Zuluaga and Yinan Zhang and Richard Vaughan},
	Booktitle = {Last-Minute-Results Poster at the International Conference on Simulation of Adaptive Behaviour (SAB)},
	Month = {July},
	Pdf = {doc/rage_sab04_poster.pdf},
	Projects = {rage transport},
	Title = {Aggression Proportional to Task Investment Can Improve Group Efficiency},
	Year = {2004}}

@inproceedings{vaughan:iros03,
	Address = {Las Vegas, Nevada},
	Author = {Richard Vaughan and Brian P. Gerkey},
	Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (IROS)},
	Month = {October},
	Pdf = {doc/iros03-abstraction.pdf},
	Projects = {player},
	Title = {On device abstractions for portable, reusable robot code},
	Year = {2003}}

@misc{vaughan:ijcai03tutorial,
	Author = {Sven Koenig and Israel Wagner and Andrew Russel and Richard Vaughan and Dave Payton},
	Booktitle= {Tutorial at International Joint Conference on Artificial Intelligence (IJCAI), Acapulco, Mexico},
	Month = {August},
	Projects = {rage swarm},
	Title = {State of the Art In Ant Robotics},
	Year = {2003}}

@inproceedings{gerkey:icar03,
	Address = {Coimbra, Portugal},
	Author = {Brian P. Gerkey and Richard Vaughan and Andrew Howard},
	Booktitle = {Proceedings of the 11th International Conference on Advanced Robotics (ICAR)},
	Month = {June},
	Pdf = {doc/gerkey_icar03.pdf},
	Projects = {player},
	Title = {The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems},
	Year = {2003}}

@misc{vaughan:icra03tutorial,
	Author = {Sven Koenig and Israel Wagner and Andrew Russel and Richard Vaughan and Dave Payton},
	Booktitle = {Tutorial at IEEE International Conference on Robotics and Automation (ICRA), Tai Peim, Taiwan},
	Projects = {rage swarm},
	Title = {State of the Art In Ant Robotics},
	Year = {2003}}

@inproceedings{vaughan:icra02,
	Address = {Washington, DC},
	Author = {Richard Vaughan and Kasper St\o{}y and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
	Month = {May},
	Pdf = {doc/vaughan_icra02.pdf},
	Projects = {trails transport},
	Title = {Exploiting task regularities to transform between reference frames in robot teams},
	Year = {2002}}

@incollection{sukhatme:avatar,
	Author = {Gaurav S. Sukhatme and James Montgomery and Richard Vaughan},
	Booktitle = {Robot Teams: From Diversity to Polymorphism},
	Editor = {Tucker Balch and Lynne.E. Parker},
	Projects = {helicopter},
	Publisher = {AK Peters},
	Title = {Experiments with Aerial-Ground Robots},
	Year = {2002}}

@article{vaughan:tro02,
	Author = {Richard Vaughan and Kasper St\o{}y and Andrew Howard and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Journal = {IEEE Transactions on Robotics and Autonomous Systems},
	Number = {5},
	Pages = {796-812},
	Pdf = {doc/vaughan_LOST.pdf},
	Projects = {rage trails transport},
	Title = {LOST: Localization-Space Trails for Robot Teams},
	Volume = {18},
	Year = {2002}}

@inproceedings{gerkey:iros01,
	Address = {Wailea, Hawaii},
	Author = {Brian P. Gerkey and Richard Vaughan and Kasper St\o{}y and Andrew Howard and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Booktitle = {Proceeding of the IEEE/RSJ International Conference on Intelligent Robotic Systems (IROS)},
	Month = {November},
	Pdf = {doc/iros01-player.pdf},
	Projects = {player},
	Publisher = {IEEE},
	Title = {Most Valuable Player: A Robot Device Server for Distributed Control},
	Year = {2001}}

@inproceedings{weiye:icra2000,
	Address = {Seoul, Korea},
	Author = {Wei Ye and Richard Vaughan and Gaurav S. Sukhatme and John Heidemann and Deborah Estrin and Maja J. Matari\'{c}},
	Booktitle = {Proceedings of the IEEE International Conferece on Robotics and Automation (ICRA)},
	Month = {May},
	Pdf = {doc/Ye_Vaughan_Sukhatme_Heidemann_Estrin_Mataric.pdf},
	Projects = {player network},
	Title = {Evaluating Control Strategies for Wireless-Networked Robots Using an Integrated Robot and Network Simulation},
	Year = {2001}}

@techreport{vaughan:iris01,
	Author = {Richard Vaughan and Kasper St\o{}y and Andrew Howard and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Institution = {Institute for Robotics and Intelligent Systems, School of Engineering, University of Southern California},
	Note = {A later version of this paper was published in the IEEE Transactions on Robotics and Autonomous Systems 18:5, 2002},
	Pdf = {doc/vaughan_LOST.pdf},
	Projects = {transport},
	Title = {LOST: Localization-Space Trails for Robot Teams},
	Year = {2001}}

@inproceedings{vaughan:dars00a,
	Address = {Knoxville, Tennessee, USA},
	Author = {Richard Vaughan and Kasper St\o{}y and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Booktitle = {Proceedings of the International Symposium on Distributed Autonomous Robot Systems},
	Month = {October},
	Pages = {111-120},
	Pdf = {doc/vaughan_blazingatrail.pdf},
	Projects = {transport trails},
	Title = {Blazing a trail: insect-inspired resource transportation by a robot team},
	Year = {2000}}

@inproceedings{vaughan:dars00b,
	Address = {Knoxville, Tennessee, USA},
	Author = {Richard Vaughan and Gaurav S. Sukhatme and Javier Mesa-Martinez and James A. Montgomery},
	Booktitle = {Proceedings of the International Symposium on Distributed Autonomous Robot Systems},
	Month = {October},
	Pages = {111-120},
	Pdf = {doc/vaughan_flyspy.pdf},
	Projects = {helicopter},
	Title = {Fly spy: lightweight localization and target tracking for cooperating ground and air robots},
	Year = {2000}}

@inproceedings{vaughan:sab00,
	Address = {Paris, France},
	Author = {Richard Vaughan and Kasper St\o{}y and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Booktitle = {Proceedings of the 6th International Conference on Simulation of Adaptive Behaviour (SAB)},
	Month = {August},
	Pages = {491-500},
	Pdf = {doc/vaughan_sab00.pdf},
	Projects = {transport trails rage},
	Title = {Go ahead, make my day: Robot conflict resolution by aggressive competition},
	Year = {2000}}

@inproceedings{vaughan:agents00,
	Address = {Barcelona, Spain},
	Author = {Richard Vaughan and Kasper St\o{}y and Gaurav S. Sukhatme and Maja J. Matari\'{c}},
	Booktitle = {Proceedings of the Fourth International Conference on Autonomous Agents},
	Month = {June},
	Pages = {187-194},
	Pdf = {doc/vaughan_agents00.pdf},
	Projects = {transport rage},
	Title = {Whistling in the Dark: cooperative trail following in uncertain localization space},
	Year = {2000}}

@misc{vaughan:icra00,
	Author = {Richard Vaughan and Neil Sumpter and Andy Frost and Stephen Cameron},
	Date-Modified = {2013-11-17 00:19:15 +0000},
	booktitle = {Video Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), San Francisco, USA},
	Month = {April},
	Projects = {sheepdog},
	Title = {The Robot Sheepdog Project: experiments in automatic flock control (video)},
	Year = {2000},
video = {https://youtu.be/tefXVXscNDM}
}

@article{vaughan:ras,
	Author = {Richard Vaughan and Neil Sumpter and Jane V. Henderson and Andy Frost and Stephen Cameron},
	Journal = {Robotics and Autonomous Systems},
	Pages = {109-117},
	Pdf = {doc/vaughan_ras00.pdf},
	Projects = {sheepdog},
	Title = {Experiments in Automatic Flock Control},
	Volume = {31},
	Year = {2000},
video = {https://youtu.be/tefXVXscNDM}
}

@techreport{gerkey:playermanual,
	Author = {Brian P. Gerkey and Kasper St\o{}y and Richard Vaughan},
	Institution = {Institute for Robotics and Intelligent Systems, School of Engineering, University of Southern California},
	Projects = {player},
	Title = {Player Robot Server},
	Year = {2000}}

@techreport{vaughan:stageiris,
	Author = {Richard Vaughan},
	Institution = {Institute for Robotics and Intelligent Systems IRIS-00-393, School of Engineering, University of Southern California},
	Projects = {player},
	Title = {Stage: a multiple robot simulator},
	Year = {2000}}

@phdthesis{vaughan:phd,
	Author = {Richard Vaughan},
	Pdf = {doc/vaughan_thesis.pdf},
	Projects = {sheepdog thesis},
	School = {University of Oxford},
	Title = {Experiments in Automatic Flock Control},
	Year = {1999},
video = {https://youtu.be/tefXVXscNDM}
}

@misc{sumpter:mva98,
	Address = {Chiba, Japan},
	Author = {Neil Sumpter and A. Bulpitt and Richard Vaughan and Robin Tillet and Roger Boyle},
	Booktitle = {Proceedings of the IAPR Workshop on Machine Vision Applications},
	Month = {November},
	Projects = {sheepdog},
	Title = {Learning Models of Animal Behaviour for a Robotic Sheepdog},
	Year = {1998}}

@inproceedings{vaughan:IS98,
	Address = {Gaithersburg, Maryland},
	Author = {Richard Vaughan and Neil Sumpter and Andy Frost and Stephen Cameron},
	Booktitle = {Proceedings of the Joint Conference on Science and Technology of Intelligent Systems (ISIC/CIRA/ISAS)},
	Month = {September},
	Pages = {277-282},
	Pdf = {doc/vaughan_cira98.pdf},
	Projects = {sheepdog},
	Publisher = {IEEE},
	Title = {Robot control of animal flocks},
	Year = {1998},
        video = {https://youtu.be/tefXVXscNDM}
}

@inproceedings{vaughan:sirs98,
	Address = {Edinburgh, Scotland},
	Author = {Richard Vaughan and Neil Sumpter and Andy Frost and Stephen Cameron},
	Booktitle = {Proceedings of the Sixth Symposium on Intelligent Robotic Systems (SIRS)},
	Note = {(Best Paper awarded)},
	Pages = {47-54},
	Pdf = {doc/vaughan_sirs98.pdf},
	Projects = {sheepdog},
	Title = {Experiments in automatic flock control},
	Year = {1998},
video = {https://youtu.be/tefXVXscNDM}
}

@inproceedings{vaughan:sab98,
	Address = {Zurich, Switzerland},
	Author = {Richard Vaughan and Neil Sumpter and Andy Frost and Stephen Cameron},
	Booktitle = {Proceedings of the International Conference on Simulation of Adaptive Behaviour (SAB)},
	Pages = {494-498},
	Pdf = {doc/vaughan_sab98.pdf},
	Projects = {sheepdog},
	Title = {Robot Sheepdog Project achieves automatic animal control},
	Year = {1998},
        video = {https://youtu.be/tefXVXscNDM}
}

@misc{vaughan:biorobotics,
	Author = {Richard Vaughan and Jane Henderson and Neil Sumpter},
	Booktitle = {Proceedings of the International Workshop on Robotics and Automated Machinery for BioProductions},
	Editor = {F. Juste and G. Andreu and J.M. Valiente and J.V. Benlloch},
	Month = {September},
	Pages = {111-118},
	Projects = {sheepdog},
	Title = {Introducing the Robot Sheepdog Project},
	Year = 1997}
}