Zack Butler's publications

In most instances, the PDF file is much smaller, but for some of the older papers, the PDF looks quite poor on-screen.
(PDF and PS files appear identical to me when printed.)

Z. Butler, "Auction-based Task Allocation for Teams of Self-Reconfigurable Robots," IEEE Int'l Symposium on Intelligent Control, 2012. PDF.
J. Hawley and Z. Butler, "Hierarchical Distributed Task Allocation for Multi-Robot Exploration," DARS 2010. PDF.
J. Hays and Z. Butler, "Behavior-Based Control of Self-Reconfigurable Robot Teams for Sensor Placement," Int'l Conf on Intelligent Autonomous Systems, 2010. PDF.
G. von Pless and Z. Butler, "Adaptive Expert Systems for Indirect Coverage Control", ICRA 2009. PDF
Z. Butler and E. Fabricant, "Reconfigurable Teams: Cooperative Goal-Seeking for Self-Reconfigurable Robots", DARS 2008. PDF
Z. Butler and C. Bribiescas, "Corridors for Robot Team Navigation", DARS 2008.PDF
Z. Butler, M. Kwon and R. Raj, "Work In Progress: Using a Mobile Robots Laboratory to Teach Advanced Computing Concepts", FIE 2008. PDF
R. Fitch and Z. Butler, ``Scalable Locomotion Planning for Large Self-Reconfiguring Robots'' ICRA 2007. PDF.
M. Schwager, D. Anderson, Z. Butler and D. Rus, "Robust Classification of Animal Tracking Data," Computers and Electronics in Agriculture, v. 56 pp. 46-59, 2007.
R. Fitch and Z. Butler, ``Million Module March: Scalable Locomotion Planning for Large Self-Reconfiguring Robots'' Robotics: Science and Systems, Workshop on Self-Reconfigurable Robots, 2006. PDF
Z. Butler, "Corridor Planning for Natural Agents", ICRA 2006. PDF
Z. Butler, "Motion-Constrained Mobile Sensor Networks", Int'l Conf on Advanced Robotics, 2005.PDF
Z. Butler, P. Corke, R. Peterson and D. Rus, "Dynamic Virtual Fences for Controlling Cows", Int'l Symposium on Experimental Robotics (ISER), 2004.PDF
Z. Butler, K. Kotay, D. Rus and K. Tomita, "Generic Decentralized Locomotion Control for Lattice-Based Self-Reconfigurable Robots," Int'l Journal of Robotics Research, 23(9), 919-938, Sept. 2004.
Z. Butler, P. Corke, R. Peterson and D. Rus, "Virtual Fences for Controlling Cows", Int'l Conference on Robotics and Automation (ICRA), 2004.PDF
R. Fitch, Z. Butler and D. Rus, "In-Place Distributed Heterogeneous Reconfiguration Planning", Distributed Autonomous Robotic Systems (DARS) 2004. PDF
Z. Butler and D. Rus, "Controlling Mobile Sensors for Monitoring Events with Coverage Constraints", ICRA 2004. PDF
Z. Butler and D. Rus, "Event-based motion control for mobile sensor networks", IEEE Pervasive Computing, 2(4), 34-43, Oct-Dec 2003. PDF
Z. Butler and D. Rus, "Distributed Motion Planning for Modular Robots with Unit-Compressible Modules", International Journal of Robotics Research, 22(9), 699-716, Sept. 2003. PDF
J. Aslam, Z. Butler, F. Constantin, V. Crespi, G. Cybenko and D. Rus, "Tracking a Moving Object with a Binary Sensor Network", ACM SenSys '03.
R. Fitch, Z. Butler and D. Rus, "Reconfiguration Planning for Heterogeneous Self-Reconfiguring Robots", IROS 2003.
Z. Butler and D. Rus, "Distributed Locomotion Algorithms for Self-Reconfigurable Robots Operating on Rough Terrain", Int'l Conf. on Computational Intelligence in Robotics and Automation (CIRA) '03, July 2003. PDF
Z. Butler, R. Fitch and D. Rus, "Distributed Control for Unit-Compressible Robots", IEEE/ASME Trans. on Mechatronics, Dec 2002. PDF PS
Z. Butler and D. Rus, "Distributed Motion Planning for 3-D Modular Robots with Unit-Compressible Modules", Workshop on the Algorithmic Foundations of Robotics, 2002. PDF
Z. Butler, R. Fitch and D. Rus, "Experiments in Distributed Control of Modular Robots", Experimental Robotics VIII. PDF PS
Z. Butler, S. Murata and D. Rus, "Distributed Replication Algorithms for Self-Reconfiguring Modular Robots", in Distributed Autonomous Robotic Systems 5, pp. 37-48, 2002. PDF PS
Z. Butler, K. Kotay, D. Rus and K. Tomita, "Generic Decentralized Control for a Class of Self-Reconfigurable Robots", ICRA 2002. PDF
Z. Butler, R. Fitch, D. Rus and Y. Wang, "Distributed Goal Recognition Algorithms for Modular Robots", ICRA 2002. PDF
Z. Butler, S. Byrnes and D. Rus, "Distributed Motion Planning for Modular Robots with Unit-Compressible Modules," IROS 2001. PDF PS
R. Fitch, Z. Butler and D. Rus, "3D Rectilinear Motion Planning with Minimum Bend Paths," IROS 2001. PDF PS
Z. Butler, K. Kotay, D. Rus and K. Tomita, "Cellular Automata for Decentralized Control of Self-Reconfigurable Robots," ICRA 2001 Workshop on Modular Self-Reconfigurable Robots. PS PDF
Z. J. Butler, A. A. Rizzi and R. L. Hollis, "Simulation and Experimental Evaluation of Sensor-Based Coverage in Rectilinear Environments," Experimental Robotics VII, pp. 417-426, Springer-Verlag, 2001. (Proceedings of 2000 Int'l Symposium of Experimental Robotics) PS PDF
Z. J. Butler, A. A. Rizzi and R. L. Hollis, "Distributed Coverage of Rectilinear Environments," in Algorithmic and Computational Robotics: New Directions, pp. 51-62, A. K. Peters, 2001. (Proc. of the Workshop on the Algorithmic Foundations of Robotics), PDF
Z. J. Butler, "Distributed Coverage of Rectilinear Environments," Ph.D. Thesis, Carnegie Mellon, September 2000. ps.gz [2.5 MB] pdf [4 MB]
Z. J. Butler, A. A. Rizzi and R. L. Hollis, "Cooperative Sensor-based Coverage of Rectilinear Environments," Proc. of IEEE Int'l Conference on Robotics and Automation, San Francisco, April 2000. PS
Z. J. Butler, A. A. Rizzi and R. L. Hollis, "Contact Sensor-based Coverage of Rectilinear Environments," Proc. of IEEE Int'l Symposium on Intelligent Control, Boston, Sept. 1999 PDF
J. Gowdy and Z. J. Butler, "An Integrated Interface Tool for the Architecture for Agile Assembly," Proc. of IEEE Int'l Conference on Robotics and Automation, Detroit, May 10-15, 1999
Z. J. Butler, A. A. Rizzi and R. L. Hollis, "Integrated Precision 3-DOF Position Sensor for Planar Linear Motors," Proc. of IEEE Int'l. Conference on Robotics and Automation, Leuven, Belgium, April 1998. PDF
P. J. Berkelman, Z. J. Butler and R. L. Hollis, "Design of a Hemispherical Magnetic Levitation Haptic Interface Device," 1996 ASME IMECE, Atlanta, November, 1996.PDF
R. L. Hollis, Z. J. Butler, A. A. Rizzi and A. E. Quaid, "Closed-Loop Planar Linear Motor with Integral Monolithic Three-Degree-of-Freedom AC-Magnetic Position/Orientation Sensor," U.S. Patent 6,175,169.