Publications

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Journal Publications and Preprints

  1. H. Zhou, V. Tzoumas. Simultaneous System Identification and Model Predictive Control with No Dynamic Regret. IEEE Transactions on Robotics (TRO), 2025.
  2. Z. Xu, S. Garimella, V. Tzoumas. Communication- and Computation-Efficient Distributed Submodular Optimization in Robot Mesh Networks. IEEE Transactions on Robotics (TRO), 2025.
  3. Z. Xu, V. Tzoumas, Performance-Aware Self-Configurable Multi-Agent Networks: A Distributed Submodular Approach for Simultaneous Coordination and Network Design. Preprint. A preliminary version has been accepted at IEEE CDC 2024.
  4. H. Zhou, Y. Song, V. Tzoumas. Safe Non-Stochastic Control of Control-Affine Systems. IEEE Robotics and Automation Letters (RAL), 2023.
  5. Z. Xu, H. Zhou, V. Tzoumas, Online Submodular Coordination with Bounded Tracking Regret: Theory, Algorithm, and Application to Multi-Robot Coordination. IEEE Robotics & Automation Letters (RAL), 2023.
  6. †(TRO) L. Zhou, V. Tzoumas, P. Tokekar, G. J. Pappas. Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning. IEEE Transactions on Robotics (TRO), 2022.
  7. (TAC) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Robust and Adaptive Sequential Submodular Optimization, IEEE Transactions on Automatic Control (TAC), 2022.
  8. (TRO) B. Schlotfeldt, V. Tzoumas, G. J. Pappas. Resilient Active Information Acquisition with Teams of Robots, IEEE Transactions on Robotics (TRO), 2022.
  9. (TRO) P. Antonante, V. Tzoumas, H. Yang, L. Carlone. Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications, IEEE Transactions on Robotics (TRO), 2022.
  10. (arxiv) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Resilient Non-Submodular Maximization over Matroid Constraints.
  11. (TAC) V. Tzoumas, L. Carlone, G. J. Pappas, A. Jadbabaie. LQG Control and Sensing Co-Design, IEEE Transactions on Automatic Control (TAC), 2021.
  12. (RA-L+ICRA) H. Yang, P. Antonante, V. Tzoumas, L. Carlone. Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection (video presentation). IEEE Robotics & Automation Letters (RAL), 2020. Honorable Mention, RA-L 2020.
  13. †(RA-L+ICRA) L. Zhou, V. Tzoumas, G. J. Pappas, P. Tokekar, Resilient Active Target Tracking with Multiple Robots. IEEE Robotics & Automation Letters (RA-L), and IEEE International Conference on Robotics and Automation (ICRA), 2019. (video)
  14. (TAC) A. Jadbabaie, A. Olshevsky, G. J. Pappas, V. Tzoumas. Minimal Reachability is Hard to Approximate. IEEE Transactions on Automatic Control (TAC), 2019.
  15. (TCNS) V. Tzoumas, Y. Xue, S. Pequito, P. Bogdan, G. J. Pappas. Selecting Sensors in Biological Fractional-Order Systems. IEEE Transactions on Control of Network Systems (TCNS), 2018.
  16. (TCNS) V. Tzoumas, M. A. Rahimian, G. J. Pappas, A. Jadbabaie. Minimal Actuator Placement with Bounds on Control Effort. IEEE Transactions on Control of Network Systems (TCNS), 2016. (correction)

† The theorems in the paper, as noted therein, are corollaries of the theorems proved in Resilient Non-Submodular Maximization Over Matroid Constraints, by V. Tzoumas, A. Jadbabaie, G. J. Pappas, 2018.

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Conference Publications and Preprints

  1. I. Bao, J. C. Pacheco, A. Navsalkar, A. Scheffer, S. Shankar, A. Zhao, H. Zhou, V. Tzoumas. MorphEUS: Morphable Omnidirectional Unmanned System. Workshop on Open Challenges in Robotics for Asset Inspection and Management, IEEE International Conference on Robotics and Automation (ICRA)
  2. X. Zhang, P. Zhang, X. Xiao, S. Li, V. Tzoumas, V. Gupta, P. Bogdan. End-to-End Learning Framework for Solving Non-Markovian Optimal Control. International Conference on Machine Learning (ICML), 2025.
  3. H. Zhou, V. Tzoumas. No-Regret Model Predictive Control with Online Learning of Koopman Operators. American Control Conference (ACC), 2025.
  4. Z. Xu, V. Tzoumas. Performance-Aware Self-Configurable Multi-Agent Networks: A Distributed Submodular Approach for Simultaneous Coordination and Network Design. IEEE Conference on Decision and Control (CDC), 2024. Invited paper. 
  5. Z. Xu, X. Lin, V. Tzoumas. Leveraging Untrustworthy Commands for Multi-Robot Coordination in Unpredictable Environments: A Bandit Submodular Maximization Approach. American Control Conference (ACC), 2024.
  6. H. Zhou, Z. Xu, V. Tzoumas. Efficient Online Learning with Memory via Frank-Wolfe Optimization: Algorithms with Bounded Dynamic Regret and Applications to Control. IEEE Conference on Decision and Control (CDC), 2023.
  7. H. Zhou, V. Tzoumas. Safe Non-Stochastic Control of Linear Dynamical Systems. IEEE Conference on Decision and Control (CDC), 2023. Invited paper. 
  8. H. Zhou, V. Tzoumas. Safe Perception-Based Control with Minimal Worst-Case Dynamic Regret. IEEE Conference on Decision and Control (CDC), 2023.
  9. Z. Xu, X. Lin, V. Tzoumas. Bandit Submodular Maximization for Multi-Robot Coordination in Unpredictable and Partially Observable Environments. Robotics Science and Systems (RSS), 2023.
  10. Z. Xu, V. Tzoumas. Resource-Aware Distributed Submodular Maximization: A Paradigm for Multi-Robot Decision-Making (slides | video). IEEE Conference on Decision and Control (CDC), 2022. Invited paper. 
  11. (RA-L+ICRA) H. Yang, P. Antonante, V. Tzoumas, L. Carlone. Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection (video presentation). IEEE International Conference on Robotics and Automation (ICRA), 2020. Best Paper Award in Robotic Vision, ICRA 2020.
  12. †(ICRA) L. Zhou, V. Tzoumas, P. Tokekar, G. J. Pappas. Distributed Attack-Robust Submodular Maximization for Multi-Robot Planning. IEEE International Conference on Robotics and Automation (ICRA), 2020.
  13. (IROS) V. Tzoumas, P. Antonante, L. Carlone. Outlier-Robust Spatial Perception: Hardness, General-Purpose Algorithms, and Guarantees. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. (video)
  14. (CDC) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Resilient Monotone Sequential Maximization (slides). IEEE Conference on Decision and Control (CDC), 2018. Invited paper. 
  15. (IROS) B. Schlotfeldt, V. Tzoumas, D. Thakur, G. J. Pappas. Resilient Active Information Gathering with Mobile Robots.  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
  16. (ACC) V. Tzoumas, L. Carlone, G. J. Pappas, A. Jadbabaie. Sensing-Constrained LQG Control. American Control Conference (ACC), 2018. Invited paper.
  17. (CDC) V. Tzoumas, K. Gatsis, A. Jadbabaie, G. J. Pappas. Resilient Monotone Submodular Function Maximization (slides). IEEE Conference on Decision and Control (CDC), 2017. Invited paper. Best Student Paper Award Finalist (4 finalists, out of >1,000 accepted papers). 
  18. (ACC) V. Tzoumas, N. A. Atanasov, A. Jadbabaie, G. J. Pappas. Scheduling Nonlinear Sensors for Stochastic Process Estimation. American Control Conference (ACC), 2017.
  19. (CDC) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Near-Optimal Sensor Scheduling for Batch State Estimation: Complexity, Algorithms, and Limits. IEEE Conference on Decision and Control (CDC), 2016. Invited paper.
  20. (ACC) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Sensor Placement for Optimal Kalman Filtering: Fundamental Limits, Submodularity, and Algorithms. American Control Conference (ACC), 2016. Invited paper, Best in session presentation award.
  21. (CDC) V. Tzoumas, A. Jadbabaie, G. J. Pappas. Minimal Reachability Problems. IEEE Conference on Decision and Control (CDC), 2015.
  22. (ACC) V. Tzoumas, M. A. Rahimian, G. J. Pappas, A. Jadbabaie. Minimal Actuator Placement with Optimal Control Constraints. American Control Conference (ACC), 2015. Best in session presentation award.
  23. (WINE) V. Tzoumas, C. Amanatidis, E. Markakis. A Game-Theoretic Analysis of a Competitive Diffusion Process over Social Networks. Conference on Web and Internet Economics (WINE), 2012.

† The theorems in the paper, as noted therein, are corollaries of the theorems proved in Resilient Non-Submodular Maximization Over Matroid Constraints, by V. Tzoumas, A. Jadbabaie, G. J. Pappas, 2018.

[Journal Publications | STEM Education Publications | Conference Publications]

STEM Education Publications and Preprints

  • (ISEC) L. Carlone, K. Khosoussi, V. Tzoumas, G. Habibi, M. Ryll, R. Talak, J. Shi, and P. Antonante, Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT. IEEE Integrated STEM Education Conference (ISEC), 2022.

[Journal Publications | STEM Education Publications | Conference Publications]