Y.-L. Park, B.-R. Chen, C. Majidi, R. Wood, R. Nagpal, and E. Goldfield, “Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots”, in IEEE Intl. Conference on Robots and Systems (IROS), 2012. [Online]. Available: Referenced from ssr.seas.harvard.edu: Active Modular Elastomer Sleeve for Soft Wearable Assistance Robots

M. Rubenstein, B. Cimino, R. Nagpal, and J. Werfel, “AERobot: An Affordable One-Robot-Per-Student System for Early Robotics Education”, in Intl. Conference on Robotics and Automation (ICRA), 2015.

H. Abelson et al., “Amorphous Computing”, Communications of the ACM, vol. 43, no. 5, 2000.

J. Werfel, “Anthills Built to Order: Automating Construction with Artificial Swarms”, 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Anthills Built to Order: Automating Construction with Artificial Swarms

L. Stirling et al., “Applicability of Shape Memory Alloy Wire for an Active Soft Orthotic”, Journal of Materials Engineering and Performance, 2011, [Online]. Available: Referenced from ssr.seas.harvard.edu: Applicability of Shape Memory Alloy Wire for an Active Soft Orthotic

B. Haghighat et al., “An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots”, in Intl. Conf. on Swarm Intelligence (ANTS), 2022.

M. Malley, “Army Ant Inspired Adaptive Self-Assembly with Soft Climbing Robots”, PhD Thesis, Harvard University, 2020.

K. Petersen, P. Bardunias, N. Napp, J. Werfel, R. Nagpal, and S. Turner, “Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors”, Behavioural Processes, vol. 116, pp. 8–11, 2015, [Online]. Available: Open Access: Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors

D. Yamins and R. Nagpal, “Automated Global-to-Local Programming in 1-D Spatial Multi-Agent Systems”, in Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS), 2008. [Online]. Available: Referenced from ssr.seas.harvard.edu: Automated Global-to-Local Programming in 1-D Spatial Multi-Agent Systems

R. Moore, K. Dantu, G. Barrows, and R. Nagpal, “Autonomous MAV guidance with a lightweight omnidirectional vision sensor”, in IEEE Intl. Conf on Robotics and Automation (ICRA), 2014.

J. Ebert, M. Gauci, F. Mallmann-Trenn, and R. Nagpal, “Bayes Bots: Collective Bayesian Decision-Making in Decentralized Robot Swarms”, Intl. Conference on Robotics and Automation (ICRA). 2020.

Y.-L. Park et al., “Bio-inspired Active Soft Orthotic Device for Ankle Foot Pathologies”, in Intl. Conference on Robots and Systems (IROS), 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Bio-inspired Active Soft Orthotic Device for Ankle Foot Pathologies

C.- han Yu and R. Nagpal, “Biologically-Inspired Control for Multi-Agent Self-Adaptive Tasks”, in Twenty-Fourth AAAI Conference on Artificial Intelligence (AAAI), 2010. [Online]. Available: Referenced from ssr.seas.harvard.edu: Biologically-Inspired Control for Multi-Agent Self-Adaptive Tasks

C.- han Yu, “Biologically-Inspired Control for Self-Adaptive Multiagent Systems”, 2010. [Online]. Available: Referenced from ssr.seas.harvard.edu: Biologically-Inspired Control for Self-Adaptive Multiagent Systems

K. Soltan, J. O’Brien, F. Berlinger, R. Nagpal, and J. Dusek, “A Biomimetic Actuation Method for a Miniature, Low-Cost Multi-jointed Robotic Fish”, in IEEE OCEANS conference, 2018.

F. Berlinger, “Blueswarm: 3D Self-organization in a Fish-inspired Robot Swarm”, PhD Thesis, Harvard University, 2021.

J. Werfel, Y. Bar-Yam, and R. Nagpal, “Building Patterned Structures with Robot Swarms”, in Intl. Joint Conference on Artificial Intelligence (IJCAI ’05), 2005. [Online]. Available: Referenced from ssr.seas.harvard.edu: Building Patterned Structures with Robot Swarms

T. Siemensma, D. Chiu, S. Ramshanker, R. Nagpal, and B. Haghighat, “Collective Bayesian Decision-Making in a Swarm of Miniaturized Robots for Surface Inspection”, in 14th International Conference on Swarm Intelligence (ANTS), 2024.

K. Petersen, “Collective Construction by Termite-Inspired Robots”, PhD Thesis, Harvard University, 2014.

J. Werfel, D. Ingber, and R. Nagpal, “Collective Construction of Environmentally-adaptive Structures”, in IEEE Conference on Intelligent Robots and Systems (IROS), 2007. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Construction of Environmentally-adaptive Structures

C. Schuil, M. Valente, J. Werfel, and R. Nagpal, “Collective Construction Using Lego Robots”, in Robot Exhibition, National Conference on Artificial Intelligence, 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Construction Using Lego Robots

C.- han Yu, J. Werfel, and R. Nagpal, “Collective Decision-Making in Multi-Agent Systems by Implicit Leadership”, in Intl. Conf on Autonomous Agents and Multi-Agent Systems (AAMAS), 2010. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Decision-Making in Multi-Agent Systems by Implicit Leadership

H. F. McCreery, Z. A. Dix, M. D. Breed, and R. Nagpal, “Collective strategy for obstacle navigation during cooperative transport by ants”, Journal of Experimental Biology, vol. 219, no. 21, pp. 3366–3375, 2016, [Online]. Available: Open Access: Collective strategy for obstacle navigation during cooperative transport by ants

A. Cabrera, “Collective Transport in Large Swarms of Simple Robots”, 2012. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Transport in Large Swarms of Simple Robots

M. Rubenstein, A. Cabrera, J. Werfel, G. Habibi, J. McLurkin, and R. Nagpal, “Collective Transport of Complex Objects by Simple Robots: Theory and Experiments”, in Intl. Conf. on Autonomous Agents and Multiagent Systems (AAMAS), 2013. [Online]. Available: Referenced from ssr.seas.harvard.edu: Collective Transport of Complex Objects by Simple Robots: Theory and Experiments

K. Dantu, S. Berman, B. Kate, and R. Nagpal, “A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle Collectives”, in IEEE Intl. Conference on Robots and Systems (IROS), 2012. [Online]. Available: Referenced from ssr.seas.harvard.edu: A Comparison of Deterministic and Stochastic Approaches for Allocating Spatially Dependent Tasks in Micro-Aerial Vehicle Collectives

K. Petersen and R. Nagpal, “Complex Design by Simple Robots: A Collective Embodied Intelligence Approach to Construction”, Architectural Design, Special Issue: Autonomous Assembly: Designing for a New Era of Collective Construction, vol. 87, no. 4, pp. 44–49, 2017.

S. Hauert, S. Berman, R. Nagpal, and S. N. Bhatia, “A computational framework for identifying design guidelines to increase the penetration of targeted nanoparticles into tumors”, Nano Today, 2013, [Online]. Available: Referenced from ssr.seas.harvard.edu: A computational framework for identifying design guidelines to increase the penetration of targeted nanoparticles into tumors

W. T. Gibson et al., “Control of the Mitotic Cleavage Plane by Local Epithelial Topology”, Cell, vol. 144, no. 3, pp. 414–426, 2011.

C.- han Yu, J. Werfel, and R. Nagpal, “Coordinating Collective Locomotion in an Amorphous Modular Robot”, in IEEE International Conference on Robotics and Automation (ICRA), 2010. [Online]. Available: Referenced from ssr.seas.harvard.edu: Coordinating Collective Locomotion in an Amorphous Modular Robot

T. Radeva, A. Dornhaus, N. Lynch, R. Nagpal, and H.-H. Su, “Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems”, PLoS computational biology, vol. 13, no. 12, 2017, [Online]. Available: Open Access: Costs of task allocation with local feedback: Effects of colony size and extra workers in social insects and other multi-agent systems

Y.-L. Park et al., “Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation”, Bioinspiration & Biomimetics, vol. 9, no. 1, 2014, [Online]. Available: Open Access: Design and control of a bio-inspired soft wearable robotic device for ankle-foot rehabilitation

S. Berman, V. Kumar, and and R. Nagpal, “Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination”, in IEEE International Conference on Robotics and Automation, 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Design of Control Policies for Spatially Inhomogeneous Robot Swarms with Application to Commercial Pollination

J. Werfel, K. Petersen, and R. Nagpal, “Designing Collective Behavior in a Termite-Inspired Robot Construction Team”, Science, vol. 343, no. 6172, 2014.

J. Degesys, I. Rose, A. Patel, and R. Nagpal, “DESYNC: Self-Organizing Desynchronization and TDMA on Wireless Sensor Networks”, in International Conference on Information Processing in Sensor Networks (IPSN), 2007. [Online]. Available: Referenced from ssr.seas.harvard.edu: DESYNC: Self-Organizing Desynchronization and TDMA on Wireless Sensor Networks

A. Patel, J. Degesys, and R. Nagpal, “Desynchronization: The Theory of Self-Organizing Algorithms for Round-Robin Scheduling”, in IEEE Conference on Self-Adaptive and Self-Organizing Systems (SASO), 2007. [Online]. Available: Referenced from ssr.seas.harvard.edu: Desynchronization: The Theory of Self-Organizing Algorithms for Round-Robin Scheduling

N. Napp and R. Nagpal, “Distributed Amorphous Ramp Construction in Unstructured Environments”, in Symposium on Distributed Autonomous Robotic Systems (DARS), 2012. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Amorphous Ramp Construction in Unstructured Environments

N. Hoff, R. Wood, and R. Nagpal, “Distributed Colony-Level Algorithm Switching for Robot Swarm Foraging”, in Intl Symposium on Distributed Autonomous Robotic Systems (DARS), 2010. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Colony-Level Algorithm Switching for Robot Swarm Foraging

J. Werfel, Y. Bar-Yam, D. Rus, and and R. Nagpal, “Distributed Construction by Mobile Robots with Enhanced Building Blocks”, in IEEE International Conference on Robotics and Automation (ICRA), 2006. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Construction by Mobile Robots with Enhanced Building Blocks

J. Ebert, “Distributed Decision-making Algorithms for Inspection by Autonomous Robot Collectives”, PhD Thesis, Harvard University, 2022.

J. Werfel, K. Petersen, and R. Nagpal, “Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System”, in Modular Robotics Workshop, Intl. Conference on Robots and Systems (IROS), 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System

A. Cornejo and R. Nagpal, “Distributed Range-Based Relative Localization of Robot Swarms”, in Intl. Workshop on the Algorithmic Foundations of Robotics (WAFR), 2014. [Online]. Available: Referenced from ssr.seas.harvard.edu: Distributed Range-Based Relative Localization of Robot Swarms

M. Malley, B. Haghighat, L. Houel, and R. Nagpal, “Eciton robotica: Design and Algorithms for an Adaptive Self-Assembling Soft Robot Collective”, Intl. Conferenc on Robotics and Automation (ICRA). 2020.

N. Hoff, R. Wood, and R. Nagpal, “Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance”, in Intl. Conference on Robots and Systems (IROS), 2011. [Online]. Available: Referenced from ssr.seas.harvard.edu: Effect of Sensor and Actuator Quality on Robot Swarm Algorithm Performance

H. McCreery, J. Bilek, R. Nagpal, and M. Breed, “Effects of load mass and size on cooperative transport in ants over multiple transport challenges”, Journal of Experimental Biology, vol. doi: 10.1242/jeb.206821, 2019, [Online]. Available: Open Access: Effects of load mass and size on cooperative transport in ants over multiple transport challenges

M. Duduta, F. Berlinger, R. Nagpal, D. Clarke, R. Wood, and Z. Temel, “Electrically-latched compliant jumping mechanism based on a dielectric elastomer actuator”, Smart Materials and Structures, vol. 28, no. 09LT01, 2019.

M. Gibson, A. Patel, R. Nagpal, and N. Perrimon, “The Emergence of Geometric Order in Proliferating Metazoan Epithelia”, Nature, vol. 442, no. 7106, 2006.

R. Nagpal and M. Mamei, “Engineering Amorphous Computing Systems”, Methodologies and Software Engineering for Agent Systems, 2003, [Online]. Available: Referenced from ssr.seas.harvard.edu: Engineering Amorphous Computing Systems

R. Nagpal, A. Patel, and M. Gibson, “Epithelial topology. Problems and Paradigms”, BioEssays, vol. 30, no. 3, pp. 260–266, 2008, [Online]. Available: Referenced from ssr.seas.harvard.edu: Epithelial topology. Problems and Paradigms

M. Gauci, M. Ortiz, M. Rubenstein, and R. Nagpal, “Error Cascades in Collective Behavior: A Case Study of the Gradient Algorithm on 1000 Physical Agents”, in 16th International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 2017.