{"id":21,"date":"2018-09-20T10:43:49","date_gmt":"2018-09-20T14:43:49","guid":{"rendered":"https:\/\/sites.bu.edu\/pierson\/?page_id=21"},"modified":"2025-03-06T10:57:02","modified_gmt":"2025-03-06T15:57:02","slug":"publications","status":"publish","type":"page","link":"https:\/\/sites.bu.edu\/pierson\/publications\/","title":{"rendered":"Publications"},"content":{"rendered":"

Please visit my Google Scholar page to see a complete list of publications sorted by citation<\/strong><\/a> or sorted by year<\/strong><\/a>.<\/p>\n

*denotes student mentee co-author
\n+<\/sup>denotes student advisee co-author<\/p>\n

Journal Papers<\/h4>
<\/em><\/p>\n
    \n
  1. Stochastic Dynamic Games in Belief Space<\/strong>, W. Schwarting*, A. Pierson, S. Karaman, and D. Rus,\u00a0 Transactions on Robotics (T-RO)<\/em>, 2021 [arXiv]<\/a> [pdf]<\/a><\/strong><\/li>\n
  2. Social behavior for autonomous vehicles<\/strong>, W. Schwarting*, A. Pierson, J. Alonso-Mora, S. Karaman, and D. Rus, Proceedings of the National Academy of Sciences (PNAS),<\/em> 2019 [online]<\/a> [pdf]<\/a><\/strong><\/li>\n
  3. Probabilistic Risk Metrics for Navigating Occluded Intersections<\/strong>, S. McGill, G. Rosman, T. Ort*, A. Pierson, I. Gilitschenski, B. Araki*, L. Fletcher, S. Karaman, D. Rus, and J. Leonard,\u00a0 IEEE Robotics and Automation Letters (RA-L)<\/em>, 2019, with joint IROS option<\/strong> [pdf]<\/strong><\/a><\/li>\n
  4. Controlling Non-Cooperative Herds with Robotic Herders<\/strong>, A. Pierson and M. Schwager, Transactions on Robotics (T-RO)<\/span><\/em>, 2018 [pdf]<\/strong><\/a><\/li>\n
  5. Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers<\/strong>, A. Pierson, Z. Wang, and M. Schwager, IEEE Robotics and Automation Letters<\/em> (RA-L),<\/em> 2017, with join ICRA option [pdf]<\/strong><\/a><\/li>\n
  6. Adapting to Sensing and Actuation Variations in Multi-Robot Coverage<\/strong>, A. Pierson, L. Figueiredo*, L. Pimenta, and M. Schwager, International Journal of Robotics Research<\/em>, 2017 [pdf]<\/strong><\/a><\/li>\n
  7. Pigeons Produce Aerodynamic Torques through Changes in Wing Trajectory During Low Speed Aerial Turns<\/strong>, I.G. Ros, M. Badger, A. Pierson, L. Bassman, and A. Biewener, Journal of Experimental Biology<\/em>, 2015 [online]<\/strong><\/a><\/li>\n
  8. Pigeons Steer Like Helicopters and Generate Down- and Upstroke Lift During Low Speed Turns<\/strong>, I.G. Ros, L. Bassman, M. Badger, A. Pierson, and A. Biewener, Proceedings of the National Academy of Sciences<\/em>, 2011 [online]<\/a> [pdf]<\/a><\/strong><\/li>\n<\/ol>\n

    <\/div>\n<\/div>\n
    \n

    Conference Papers<\/h4>
    <\/p>\n
      \n
    1. Heterogeneous Exploration and Monitoring with Online Free-Space Ellipsoid Graphs,\u00a0<\/strong>B. Brodt+<\/sup> and A. Pierson,\u00a0IEEE International Conference on Robotics and Automation (ICRA)<\/em>, 2025 [pdf]<\/strong><\/a><\/li>\n
    2. Decentralized Drone Swaps for Online Rebalancing of Drone Delivery Tasks<\/strong>,\u00a0<\/em>K. Vakil+<\/sup> and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA)<\/em>, 2025\u00a0[pdf]<\/strong><\/a><\/li>\n
    3. Capability Augmentation for Heterogeneous Dynamic Teaming with Temporal Logic Tasks<\/strong>, C. Berlind+<\/sup>, W. Liu, A. Pierson, and C. Belta, IEEE International Conference on Decision and Control (CDC)<\/em>, 2024 [ArXiv]<\/strong><\/a><\/li>\n
    4. Assessing Reputation to Improve Team Performance in Heterogeneous Multi-Robot Coverage, <\/strong>M. Coffey+<\/sup>, and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2024 [pdf]<\/strong><\/a><\/strong><\/li>\n
    5. Gathering Data from Risky Situations with Pareto-Optimal Trajectories, <\/strong>B. Brodt+<\/sup>, and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2024 [pdf]<\/strong><\/a><\/strong><\/li>\n
    6. Partial Belief Space Planning for Scaling Stochastic Dynamic Games,\u00a0<\/strong>K. Vakil+<\/sup>,\u00a0M. Coffey+<\/sup>, and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2024 [pdf]<\/strong><\/a><\/li>\n
    7. Selective Negotiations for Scaling Stochastic Dynamic Games,<\/strong> K. Vakil+<\/sup> and A. Pierson, IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), <\/em>2023 [pdf]<\/strong><\/a><\/li>\n
    8. Reactive and Safe Co-Navigation with Haptic Guidance<\/span>, <\/strong>M. Coffey+<\/sup>, D. Zhang, R. Tron, and A. Pierson, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2023 [pdf]<\/strong><\/a><\/li>\n
    9. Covering Dynamic Demand with Multi-Resource Heterogeneous Teams<\/span>, <\/strong>M. Coffey+<\/sup> and A. Pierson, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2023 [pdf]<\/strong><\/a><\/li>\n
    10. Obscuring Objectives with Pareto-Optimal Privacy-Aware Trajectories, <\/strong>B. Brodt+<\/sup> and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2023 [pdf]<\/strong><\/a><\/li>\n
    11. Heterogeneous Coverage and Multi-Resource Allocation in Supply-Constrained Teams, <\/strong>M. Coffey+<\/sup> and A. Pierson, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2023 [pdf]<\/strong><\/a><\/li>\n
    12. Collaborative Teleoperation with Haptic Feedback for Collision-Free Navigation of Ground Robots, <\/strong>M. Coffey+<\/sup> and A. Pierson, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2022 [pdf]<\/strong><\/a><\/li>\n
    13. Free-Space Ellipsoid Graphs for Multi-Agent Target Monitoring<\/strong>,<\/strong> A. Ray*, A. Pierson, and D. Rus, IEEE International Conference on Robotics and Automation<\/em> (ICRA), <\/em>2022. [pdf]<\/strong><\/a><\/li>\n
    14. Multi-Robot Task Assignment for Drone Videography with Viewpoint Optimization<\/strong>, A. Ray*, A. Pierson, H. Zhu, J. Alonso-Mora, and D. Rus, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), <\/em>2021 [pdf]<\/strong><\/a><\/li>\n
    15. Designing and Deploying a Mobile UVC Disinfection Robot<\/strong>,\u00a0A. Pierson, J.W. Romanishin, H. Hansen, L. Zamora Ya\u00f1ez*, and D. Rus, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, 2021 [pdf]<\/strong><\/a><\/li>\n
    16. Safe Path Planning with Multi-Model Risk Level Sets<\/strong>, Z. Huang, W. Schwarting*, A. Pierson, H. Guo, M. Ang Jr., and D. Rus, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)<\/em>, 2020 [pdf]<\/strong><\/a><\/li>\n
    17. Weighted Buffered Voronoi Cells for Distributed Semi-Cooperative Behavior<\/strong>, A. Pierson, W. Schwarting*, S. Karaman, and D. Rus, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2020 [pdf]<\/strong><\/a><\/li>\n
    18. Generating Visibility-Aware Trajectories for Cooperative and Proactive Motion Planning<\/strong>, N. Buckman*, A. Pierson, S. Karaman, and D. Rus, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2020 [pdf]<\/strong><\/a><\/li>\n
    19. Probabilistic Risk Metrics for Navigating Occluded Intersections<\/strong>, <\/em>S. McGill, G. Rosman, T. Ort*, A. Pierson, I. Gilitschenski, B. Araki*, L. Fletcher, S. Karaman, D. Rus, and J. Leonard, RA-L paper jointly accepted to IROS proceedings,\u00a0<\/em>2019 [pdf]<\/strong><\/a><\/li>\n
    20. Sharing is Caring: Socially-Compliant Autonomous Intersection Negotiation<\/strong>, N. Buckman*, W. Schwarting*, S. Karaman, and D. Rus, IEEE\/RSJ International Conference on Robots and Systems (IROS)<\/em>, 2019 [pdf]<\/strong><\/a><\/li>\n
    21. Learning Risk Level Set Parameters from Data for Safer Driving, <\/em><\/strong>A. Pierson, W. Schwarting*, S. Karaman, and D. Rus, IEEE Intelligent Vehicles Symposium (IV)<\/em>, 2019,\u00a0Accepted for Oral Presentation (<10% of accepted papers)<\/strong> [pdf]<\/strong><\/a><\/li>\n
    22. Dynamic Risk Density for Autonomous Navigation in Cluttered Environments without Object Detection,<\/em> <\/strong>A. Pierson, C. Vasile, A. Gandhi*, W. Schwarting*, S. Karaman, and D. Rus, IEEE International Conference on Robotics and Automation<\/em> (ICRA),<\/em> 2019 [pdf]<\/strong><\/a><\/li>\n
    23. Navigating Congested Environments with Risk Level Sets,<\/em> <\/strong>A. Pierson, W. Schwarting*, S. Karaman, and D. Rus, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2018 [pdf]<\/strong><\/a><\/li>\n
    24. Distributed Target Tracking in Cluttered Environments with Guaranteed Collision Avoidance, <\/em><\/strong>A. Pierson and D. Rus, IEEE International Symposium on Multi-Robot and Multi-Agent Systems (MRS), <\/em>2017 [pdf]<\/strong><\/a><\/li>\n
    25. Intercepting Rogue Robots: An Algorithm for Capturing Multiple Evaders with Multiple Pursuers<\/strong>, A. Pierson, Z. Wang, and M. Schwager,\u00a0RA-L paper jointly accepted to ICRA proceedings<\/em>, 2017 [pdf]<\/strong><\/li>\n
    26. <\/strong>Cooperative Multi-Quadrotor Pursuit of an Evader in an Environment with No-Fly Zones<\/strong>, A. Pierson, A. Ataei, I. C. Paschalidis, and M. Schwager, IEEE International Conference on Robotics and Automation (ICRA),\u00a0<\/em>2016. Best Paper Finalist [pdf]<\/a><\/strong><\/li>\n
    27. Bio-Inspired Non-Cooperative Multi-Robot Herding<\/strong>, <\/em>A. Pierson and M. Schwager, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2015 [pdf]<\/strong><\/a><\/li>\n
    28. Adapting to Performance Variations in Multi-Robot Coverage<\/strong>, A. Pierson, L. C. Figueiredo*, L. C. A. Pimenta, and M. Schwager, IEEE International Conference on Robotics and Automation (ICRA), <\/em>2015 [pdf]<\/strong><\/a><\/li>\n
    29. Adaptive Inter-Robot Trust for Robust Multi-Robot Sensor Coverage<\/strong>, A. Pierson and M. Schwager, International Symposium on Robotics Research (ISRR)<\/em>, 2013 [pdf]<\/strong><\/a><\/li>\n
    30. Translational and Rotational Components of Low Speed Turning in the Pigeon columba livia<\/strong>, I. G. Ros, M. Badger, A. Pierson, L. Bassman, and A. Biewener, Integrative and Comparative Biology<\/em>, 2011<\/em><\/li>\n<\/ol>\n

      <\/div>\n<\/div>\n
      \n

      Patents<\/h4>
      <\/p>\n
        \n
      • Autonomous, Mobile Robotic Apparatus for Applying Disinfection to an Interior Area<\/strong>, US Patent 12,105,536<\/li>\n
      • Method and Apparatus for Planning a Disinfection Path for an Autonomous, Mobile, Robotic Device<\/strong>, US Patent 11,938,240<\/li>\n
      • Social Behavior for Autonomous Vehicles,\u00a0<\/strong>US Patent 11,884,302<\/em><\/li>\n
      • Autonomous Navigation in a Cluttered Environment<\/strong>, US Patent 11,808,590<\/li>\n
      • Systems and Methods for Estimating the Risk Associated with a Vehicular Maneuver<\/strong>, US Patent 11,724,691<\/li>\n
      • Navigating Congested Environments with Risk Level Sets<\/strong>, US Patent 11,300,968<\/li>\n<\/ul>\n

        <\/div>\n<\/div>\n
        \n

        Thesis<\/h4>
        <\/p>\n

        Analysis of Multi-Agent Systems Under Varying Degrees of Trust, Cooperation, and Competition<\/strong>, Boston University, January 2017.<\/p>\n

        <\/div>\n<\/div>\n<\/p>\n","protected":false},"excerpt":{"rendered":"

        Please visit my Google Scholar page to see a complete list of publications sorted by citation or sorted by year. *denotes student mentee co-author +denotes student advisee co-author<\/p>\n","protected":false},"author":15163,"featured_media":0,"parent":0,"menu_order":3,"comment_status":"closed","ping_status":"closed","template":"page-templates\/no-sidebars.php","meta":[],"_links":{"self":[{"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/pages\/21"}],"collection":[{"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/users\/15163"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/comments?post=21"}],"version-history":[{"count":48,"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/pages\/21\/revisions"}],"predecessor-version":[{"id":633,"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/pages\/21\/revisions\/633"}],"wp:attachment":[{"href":"https:\/\/sites.bu.edu\/pierson\/wp-json\/wp\/v2\/media?parent=21"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}