Publications

Google Scholar Profile

Journal articles

  1. G. D'urso, S. L. Smith, R. Mettu, T. Oksanen, R. Fitch. Multi-Vehicle Refill Scheduling with Queueing, Computers and Electronics in Agriculture, 144:44-57, 2018. [DOI]

  2. F. Imeson and S. L. Smith. An SMT-Based Approach to Motion Planning for Multiple Robots with Complex Constraints, April 2017. Note: Under Revision

  3. R. A. MacDonald and S. L. Smith. Active Sensing for Motion Planning in Uncertain Environments via Mutual Information Policies. In International Journal of Robotics Research, 2018. Note: To appear [DOI] [PDF]

  4. B. Gharesifard and S. L. Smith. Distributed Submodular Maximization with Limited Information. In IEEE Transactions on Control of Network Systems, 2017. Note: To appear. [DOI] [PDF]

  5. S. L. Smith and F. Imeson. GLNS: An Effective Large Neighborhood Search Heuristic for the Generalized Traveling Salesman Problem. In Computers & Operations Research, 87:1-19, 2017. [DOI] [PDF] [GLNS solver page]

  6. A. Sadeghi and S. L. Smith. Decentralized Large Neighborhood Search for Task Allocation in Heterogeneous Systems. In Unmanned Systems, 5(2), 1-17, 2017. [DOI] [PDF]

  7. A. B. Asghar, S. T. Jawaid, and S. L. Smith. A Complete Greedy Algorithm for Infinite-Horizon Sensor Scheduling. In Automatica, 81: 335–341, 2017. [DOI] [PDF]

  8. S. T. Jawaid and S. L. Smith. Submodularity and Greedy Algorithms in Sensor Scheduling for Linear Dynamical Systems. In Automatica, 61: 282-288, 2015. [DOI] [PDF]

  9. N. Mathew, S. L. Smith, and S. L. Waslander. Planning Paths for Package Delivery in Heterogeneous Multi-Robot Teams. In IEEE Transactions on Automation Science and Engineering, 12(4), 1298-1308, 2015. [DOI] [PDF]

  10. N. Mathew, S. L. Smith, and S. L. Waslander. Multi-robot Rendezvous Planning for Recharging in Persistent Tasks. In IEEE Transactions on Robotics, 31(1), 128 - 142, 2015 [DOI] [PDF]

  11. S. T. Jawaid and S. L. Smith. Informative Path Planning as a Maximum Traveling Salesman Problem with Submodular Rewards. In Discrete Applied Mathematics, 186:112-127, 2015. [DOI] [PDF]

  12. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Dynamic Vehicle Routing with Time Constraints. In IEEE Transactions on Robotics, 30(6): 1524-1532, 2014. [DOI] [PDF]

  13. X. C. Ding, S. L. Smith, C. Belta, and D. Rus. Optimal Control of Markov Decision Processes with Temporal Logic Constraints . In IEEE Transactions on Automatic Control, 59(5) 1244-1257: 2014. [DOI] [PDF]

  14. S. Alamdari, E. Fata, and S. L. Smith. Persistent Monitoring in Discrete Environments: Minimizing the Maximum Weighted Latency Between Observations. In International Journal of Robotics Research, 33(1): 138-154, 2014. [DOI] [PDF]

  15. A. Ulusoy, S. L. Smith, X. C. Ding, C. Belta, and D. Rus. Optimality and Robustness in Multi-Robot Path Planning with Temporal Logic Constraints. In International Journal of Robotics Research, 32(8): 889-911, 2013. [DOI] [PDF]

  16. M. Pavone, S. L. Smith, E. Frazzoli, and D. Rus. Robotic Load Balancing for Mobility-on-Demand Systems. International Journal of Robotics Research, 31(7): 839-854, 2012 [DOI] [PDF]

  17. S. L. Smith, M. Schwager, and D. Rus. Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments. IEEE Transactions on Robotics, 28(2): 410-426, 2012. [DOI] [PDF]

  18. S. L. Smith, J. Tumova, C. Belta, and D. Rus. Optimal Path Planning for Surveillance with Temporal Logic Constraints. International Journal of Robotics Research, 30(14):1695-1708, 2011 [DOI] [PDF] [Video]

  19. F. Bullo, E. Frazzoli, M. Pavone, K. Savla, and S. L. Smith. Dynamic Vehicle Routing for Robotic Systems. Proceedings of the IEEE, 99(9):1482-1504, 2011. [DOI] [PDF]

  20. R. N. Smith, M. Schwager, S. L. Smith, B. H. Jones, D. Rus, and G. S. Sukhatme. Persistent Ocean Monitoring with Underwater Gliders: Adapting Sampling Resolution. Journal of Field Robotics, 28(5), 714-741, 2011. [DOI] [PDF]

  21. S. D. Bopardikar, S. L. Smith, and F. Bullo. On Vehicle Placement to Intercept Moving Targets. Automatica, 47(9), 2067-2074, 2011 [DOI] [PDF]

  22. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic Vehicle Routing for Translating Demands: Stability Analysis and Receding-Horizon Policies. IEEE Transactions on Automatic Control, 55(11), 2554-2569, 2010. [DOI] [PDF]

  23. S. L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Priority Classes of Stochastic Demands. SIAM Journal on Control and Optimization, 48(5):3224-3245, 2010. [DOI] [PDF]

  24. S. L. Smith and F. Bullo. The Dynamic Team Forming Problem: Throughput and Delay for Unbiased Policies. Systems & Control Letters, 58(10-11):709-715, 2009. [DOI] [PDF]

  25. S. L. Smith and F. Bullo. Monotonic Target Assignment for Robotic Networks. IEEE Transactions on Automatic Control, 54(9):2042-2057, 2009. [DOI] [PDF]

  26. S. L. Smith, M. E. Broucke, and B. A. Francis. Curve Shortening and the Rendezvous Problem for Mobile Autonomous Robots. IEEE Transactions on Automatic Control, 52(6):1154-1159, 2007. [DOI] [PDF]

  27. S. L. Smith, M. E. Broucke, and B. A. Francis. A Hierarchical Cyclic Pursuit Scheme for Vehicle Networks. Automatica, 41(6):1045-1053, 2005. [DOI] [PDF]

Book chapters and conference articles

  1. A. B. Asghar and S. L. Smith. A Patrolling Game for Adversaries with Limited Observation Time. In IEEE Conference on Decision and Control, Miami Beach, FL, December 2018. Note: To Appear

  2. A. Blidaru, S. L. Smith and D. Kulic. Assessing user specifications for robot task planning. In IEEE International Conference on Robot and Human Interactive Communication, Nanjing and Tai'an, China, August 2018. Note: To Appear [PDF]

  3. A. Sadeghi and S. L. Smith. Re-Deployment Algorithms for Multiple Service Robots to Optimize Task Response. In IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [PDF] [Video]

  4. N. Wilde, D. Kulic, and S. L. Smith. Learning User Preferences in Robot Motion Planning through Interaction. In IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [PDF] [Video]

  5. F. Imeson and S. L. Smith. Clustering in Discrete Path Planning for Approximating Minimum Length Paths. In American Control Conference, Seattle, WA, pages 2968-2973, May 2017. [PDF] [arXiv]

  6. R. A. MacDonald and S. L. Smith. Reactive Motion Planning in Uncertain Environments via Mutual Information Policies. In Workshop on the Algorithmic Foundations of Robotics, San Francisco, CA, December 2016 [PDF]

  7. A. Sadeghi and S. L. Smith. On Efficient Computation of Shortest Dubins Paths Through Three Consecutive Points. In IEEE Conference on Decision and Control, Las Vegas, NV, pages 6010-6015, December 2016. [PDF]

  8. S. Bochkarev and S. L. Smith. On Minimizing Turns in Robot Coverage Path Planning. In IEEE Conference on Automation Science and Engineering, Fort Worth, TX, pages 1237-1241, August 2016 [PDF]

  9. B. Gharesifard and S. L. Smith. On Distributed Submodular Maximization with Limited Information. In American Control Conference, Boston, MA, pages 1048-1053 July 2016. [PDF]

  10. A. B. Asghar and S. L. Smith. Stochastic Patrolling in Adversarial Settings. In American Control Conference, Boston, MA, pages 6435-6440, July 2016. [PDF]

  11. F. Imeson and S. L. Smith. Multi-Robot Task Planning and Sequencing using the SAT-TSP Language. In IEEE International Conference on Robotics and Automation, Seattle, WA, pages 5397-5402, May 2015. [PDF]

  12. A. B. Asghar and S. L. Smith. Robot Monitoring for the Detection and Confirmation of Stochastic Events. In IEEE Conference on Decision and Control, Los Angeles, CA, pages 408-413, December 2014. [PDF]

  13. N. Mathew, S. L. Smith, and S. L. Waslander. Optimal Path Planning in Cooperative Heterogeneous Multi-robot Delivery Systems. In Workshop on the Algorithmic Foundations of Robotics, Istanbul, Turkey, August 2014. [PDF]

  14. S. T. Jawaid and S. L. Smith. On the Submodularity of Sensor Scheduling for Estimation of Linear Dynamical Systems. In American Control Conference, Portland, OR, pages 4139-4144, June 2014. [PDF]

  15. S. T. Jawaid and S. L. Smith. A Complete Algorithm for the Infinite Horizon Sensor Scheduling Problem. In American Control Conference, Portland, OR, pages 437-442, June 2014. [PDF]

  16. P. J. McCarthy, C. Nielsen, and S. L. Smith. Cardinality Constrained Robust Optimization Applied to a Class of Interval Observers. In American Control Conference, Portland, OR, pages 5337-5342, June 2014. [PDF]

  17. F. Imeson and S. L. Smith. A Language For Robot Path Planning in Discrete Environments: The TSP with Boolean Satisfiability Constraints. In IEEE Conf. on Robotics and Automation, Hong Kong, China, pages 5772-5777, May 2014. [PDF]

  18. S. T. Jawaid and S. L. Smith. The Maximum Traveling Salesman Problem with Submodular Rewards. In American Control Conference, Washington, DC, pages 4003-4008, June 2013. [PDF]

  19. E. Fata, S. L. Smith, and S. Sundaram. Distributed Dominating Sets on Grids. In American Control Conference, Washington, DC, pages 211-216, June 2013. [PDF]

  20. S. L. Smith, M. Pavone, M. Schwager, E. Frazzoli, and D. Rus. Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems. In American Control Conference, Washington, DC, pages 2368-2373, June 2013. [PDF]

  21. P. J. McCarthy, C. Nielsen, and S. L. Smith. A Nonlinear Impulsive Observer for Diesel Engine Emissions Reduction. In American Control Conference, Washington, DC, pages 1065-1070, June 2013. [PDF]

  22. N. Mathew, S. L. Smith, and S. L. Waslander. A Graph-Based Approach to Multi-Robot Rendezvous for Recharging in Persistent Tasks. In IEEE Conf. on Robotics and Automation, Karlsruhe, Germany, pages 3482-3487, May 2013. [PDF] [Video]

  23. A. Ulusoy, S. L. Smith, and C. Belta. Optimal Multi-Robot Path Planning with LTL Constraints: Guaranteeing Correctness Through Synchronization. In Int. Symp. on Distributed Autonomous Robotic Systems, Baltimore, MD, November 2012. [PDF]

  24. B. J. Julian, S. L. Smith, and D. Rus. Distributed Approximation of Joint Measurement Distributions Using Mixtures of Gaussians. In Robotics: Science and Systems, Sydney, Australia, July 2012. Note: Electronic Proceedings. [PDF]

  25. S. Alamdari, E. Fata, and S. L. Smith. Min-Max Latency Walks: Approximation Algorithms for Monitoring Vertex-Weighted Graphs. In Workshop on the Algorithmic Foundations of Robotics, Cambridge, MA, June 2012. [PDF]

  26. A. Ulusoy, S. L. Smith, X. C. Ding, and C. Belta. Robust Multi-Robot Optimal Path Planning with Temporal Logic Constraints. In IEEE Conf. on Robotics and Automation, St. Paul, MN, pages 4693-4698, May 2012. [PDF] [Video]

  27. X. C. Ding, S. L. Smith, C. Belta and D. Rus. MDP Optimal Control under Temporal Logic Constraints. In IEEE Conf. on Decision and Control and European Control Conf. , Orlando, FL, pages 532-538, December 2011. [PDF]

  28. D. Soltero, S. L. Smith and D. Rus. Collision Avoidance for Persistent Monitoring in Multi-Robot Systems with Intersecting Trajectories. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, San Francisco, CA, pages 3645-3652, September 2011. [PDF] [Video]

  29. A. Ulusoy, S. L. Smith, X. C. Ding, C. Belta and D. Rus. Optimal Multi-Robot Path Planning with Temporal Logic Constraints. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, San Francisco, CA, pages 3087-3092, September 2011. [PDF] [Video]

  30. X. C. Ding, S. L. Smith, C. Belta and D. Rus. LTL Control in Uncertain Environments with Probabilistic Satisfaction Guarantees. In IFAC World Congress, Milan, Italy, August 2011. Note: Electronic Proceedings. [DOI] [PDF]

  31. M. Pavone, S. L. Smith, E. Frazzoli and D. Rus. Load Balancing for Mobility-on-Demand Systems. In Robotics: Science and Systems, Los Angeles, CA, June-July 2011. Note: Electronic Proceedings. [PDF]

  32. S. L. Smith, M. Schwager and D. Rus. Persistent Monitoring of Changing Environments using a Robot with Limited Range Sensing. In IEEE Conf. on Robotics and Automation, Shanghai, China, pages 5448-5455, May 2011. [PDF] [Video]

  33. R. N. Smith, M. Schwager, S. L. Smith, D. Rus, and G. S. Sukhatme. Persistent Ocean Monitoring with Underwater Gliders: Towards Accurate Reconstruction of Dynamic Ocean Processes. In IEEE Conf. on Robotics and Automation, Shanghai, China, pages 1517-1524, May 2011. [PDF]

  34. S. L. Smith and D. Rus. Multi-Robot Monitoring in Dynamic Environments with Guaranteed Currency of Observations. In IEEE Conf. on Decision and Control, Atlanta, GA, pages 514-521, December 2010. [PDF]

  35. S. L. Smith, J. Tumova, C. Belta, and D. Rus. Optimal Path Planning under Temporal Logic Constraints. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems, Tiapei, Taiwan, pages 3288-3293, October 2010. [PDF] [Video]

  36. S. D. Bopardikar, S. L. Smith, and F. Bullo. Vehicle Placement to Intercept Moving Targets. In American Control Conference, Baltimore, MD, pages 5538-5543, June 2010. [PDF]

  37. S. L. Smith, S. D. Bopardikar, and F. Bullo. A Dynamic Boundary Guarding Problem with Translating Targets. In IEEE Conf. on Decision and Control, Shanghai, China, pages 8543-8548, December 2009. [PDF]

  38. S. D. Bopardikar, S. L. Smith, F. Bullo, and J. P. Hespanha. Dynamic Vehicle Routing with Moving Demands - Part I: Low Speed Demands and High Arrival Rates. In American Control Conference, St. Louis, MO, pages 1454-1459, June 2009. [PDF]

  39. S. L. Smith, S. D. Bopardikar, F. Bullo, and J. P. Hespanha. Dynamic Vehicle Routing with Moving Demands - Part II: High Speed Demands or Low Arrival Rates. In American Control Conference, St. Louis, MO, pages 1466-1471, June 2009. [PDF]

  40. M. Pavone, S. L. Smith, F. Bullo, and E. Frazzoli. Dynamic Multi-Vehicle Routing with Multiple Classes of Demands. In American Control Conference, St. Louis, MO, pages 604-609, June 2009. [PDF]

  41. S. L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Heterogeneous Demands. In IEEE Conf. on Decision and Control, Cancun, Mexico, pages 1206-1211, December 2008. [PDF]

  42. S. L. Smith and F. Bullo. Dynamic Multi-Agent Team Forming: Asymptotic Results on Throughput Versus Delay. In American Control Conference, Seattle, WA, pages 1406-1411, June 2008. [PDF]

  43. S. L. Smith and F. Bullo. A Geometric Assignment Problem for Robotic Networks. In A. Chiuso, A. Ferrante, and S. Pinzoni, editors, Modeling, Estimation and Control: Festschrift in honor of Giorgio Picci on the occasion of his sixty-fifth Birthday, Lecture Notes in Control and Information Sciences, pages 271-284. Springer Verlag, 2007. [PDF]

  44. S. L. Smith and F. Bullo. Target Assignment for Robotic Networks: Worst Case and Stochastic Performance in Dense Environments. In IEEE Conf. on Decision and Control, New Orleans, LA, pages 3585-3590, December 2007. Note: Finalist for the Best Student Paper Award. [PDF]

  45. S. L. Smith and F. Bullo. Target Assignment for Robotic Networks: Asymptotic Performance Under Limited Communication. In American Control Conference, New York, NY, pages 1155-1160, July 2007. [PDF]

  46. S. L. Smith, M. E. Broucke, and B. A. Francis. Stabilizing a Multi-Agent System to an Equilateral Polygon Formation. In Mathematical Theory of Networks and Systems, Kyoto, Japan, pages 2415-2424, July 2006. [PDF]

  47. S. L. Smith, M. E. Broucke, and B. A. Francis. Curve shortening and its application to multi-agent systems. In IEEE Conf. on Decision and Control and European Control Conference, Seville, Spain, pages 2817-2822, December 2005. [PDF]

Theses

  1. S. L. Smith. Task Allocation and Vehicle Routing in Dynamic Environments. PhD thesis, Department of Mechanical Engineering, University of California, Santa Barbara, August 2009. [PDF]

  2. S. L. Smith. Strategies for Rendezvous and Formation Stabilization of Multi-Agent Systems. Master's thesis, Department of Electrical Engineering, University of Toronto, August 2005. [PDF]

Technical reports

  1. S. L. Smith, M. Pavone, F. Bullo, and E. Frazzoli. Dynamic Vehicle Routing with Heterogeneous Demands. Technical report CCDC-08-0904, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2008. Note: Available at http://ccdc.mee.ucsb.edu.

  2. S. L. Smith and F. Bullo. Monotonic Target Assignment For Robotic Networks. Technical report CCDC-07-0817, Center for Control, Dynamical Systems and Computation. University of California at Santa Barbara, 2007. Note: Available at http://ccdc.mee.ucsb.edu.

Preprints and extended conference articles

  1. B. Gharesifard and S. L. Smith. Distributed Submodular Maximization with Limited Information, https://arxiv.org/abs/1706.04082, June 2017.

  2. A. Sadeghi and S. L. Smith. On Efficient Computation of Shortest Dubins Paths Through Three Consecutive Points. http://arxiv.org/abs/1609.06662, September 2016.

  3. A. B. Asghar and S. L. Smith. Robot Monitoring for the Detection and Confirmation of Stochastic Events. https://arxiv.org/abs/1409.4740, September 2014.

  4. S. L. Smith, M. Pavone, M. Schwager, E. Frazzoli, and D. Rus. Rebalancing the Rebalancers: Optimally Routing Vehicles and Drivers in Mobility-on-Demand Systems. http://arxiv.org/abs/1303.3522, March 2013.

  5. E. Fata, S. L. Smith, and S. Sundaram. Distributed Dominating Sets on Grids. Note: Available at http://arxiv.org/abs/1303.3564, March 2013.

  6. A. Ulusoy, S. L. Smith, and C. Belta. Optimal Multi-Robot Path Planning with LTL Constraints: Guaranteeing Correctness Through Synchronization. Note: Available at http://arxiv.org/abs/1207.2415, October 2012.

  7. S. T. Jawaid and S. L. Smith. The Maximum Traveling Salesman Problem with Submodular Rewards. Note: Available at http://arxiv.org/abs/1209.3759, September 2012.

  8. S. Alamdari, E. Fata, and S. L. Smith. Min-Max Latency Walks: Approximation Algorithms for Monitoring Vertex-Weighted Graphs. Note: Available at http://arxiv.org/abs/1202.5619, February 2012.

  9. A. Ulusoy, S. L. Smith, X. C. Ding, and C. Belta. Robust Multi-Robot Optimal Path Planning with Temporal Logic Constraints. Note: Available at http://arxiv.org/abs/1202.1307, February 2012.

  10. A. Ulusoy, S. L. Smith, X. C. Ding, C. Belta and D. Rus. Optimal Multi-Robot Path Planning with Temporal Logic Constraints. Note: Available at http://arxiv.org/abs/1107.0062, June 2011.

  11. X. C. Ding, S. L. Smith, C. Belta, and D. Rus LTL Control in Uncertain Environments with Probabilistic Satisfaction Guarantees. Note: Available at http://arxiv.org/abs/1104.1159, April 2011.

  12. X. C. Ding, S. L. Smith, C. Belta, and D. Rus MDP Optimal Control under Temporal Logic Constraints. Note: Available at http://arxiv.org/abs/1103.4342, March 2011.

  13. S. L. Smith, M. Schwager, and D. Rus Persistent Robotic Tasks: Monitoring and Sweeping in Changing Environments. Note: Available at http://arxiv.org/abs/1102.0603, February 2011.

  14. S. L. Smith, J. Tumova, C. Belta, and D. Rus Optimal Path Planning under Temporal Logic Constraints. Note: Available at http://arxiv.org/abs/1007.2212, July 2010.

  15. S. D. Bopardikar, S. L. Smith, and F. Bullo On Vehicle Placement to Intercept Moving Targets. Note: Available at http://arxiv.org/abs/1003.1423, March 2010.

  16. S. L. Smith, S. D. Bopardikar, and F. Bullo A Dynamic Boundary Guarding Problem with Translating Targets. Note: Available at http://arxiv.org/abs/0908.3929, August 2009.

  17. M. Pavone, S. L. Smith, F. Bullo, and E. Frazzoli Dynamic multi-vehicle routing with multiple classes of demands. Note: Available at http://arXiv.org/abs/0903.2695, March 2009.

  18. S. L. Smith and F. Bullo. Target Assignment for Robotic Networks: Asymptotic Performance Under Limited Communication. Note: Available at http://arxiv.org/abs/cs.RO/0703067, March 2007.

  19. S. L Smith, M. E Broucke, and B. A. Francis. Curve Shortening and the Rendezvous Problem for Mobile Autonomous Robots. Note: Available at http://arxiv.org/abs/cs.RO/0605070, May 2006.