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 [PDF]

  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. [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.