Some papers on spacecraft swarms:

  1. S. Bandyopadhyay and S.-J. Chung, "Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks," Automatica, provisionally accepted as regular paper, 2017.
  2. S. Bandyopadhyay, S.-J. Chung, and F. Y. Hadaegh, "Probabilistic and Distributed Control of a Large-Scale Swarm of Autonomous Agents," IEEE Transactions on Robotics, to appear as regular paper, 2017. (PDF)
  3. D. Morgan, G. P. Subramanian, S.-J. Chung, and F. Y. Hadaegh, "Swarm Assignment and Trajectory Optimization Using Variable-Swarm, Distributed Auction Assignment and Sequential Convex Programming," The International Journal of Robotics Research, vol. 35, no. 10, September 2016, pp. 1261–1285. (PDF) (Supplementary Video) Preliminary version won 2015 AIAA GNC  Best Paper Award.
  4. S. Bandyopadhyay, R. Foust, G. P. Subramanian, S.-J. Chung, and F. Y. Hadaegh, "Review of Formation Flying and Constellation Missions Using Nanosatellites," Journal of Spacecraft and Rockets, vol. 53, no. 3, 2016, pp. 567-578. (PDF)
  5. J. Yu, S.-J. Chung, and P. G. Voulgaris, "Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies," IEEE Transactions on Automatic Control, vol. 60, no. 2, February 2015, pp. 327-341.  (PDF)
  6. F. Y. Hadaegh, S.-J. Chung, and H. M. Manohara, "On Development of 100-Gram-Class Spacecraft for Swarm Applications," IEEE Systems Journal, vol. 10, no. 2, June 2016, pp. 673-684. (PDF)
  7. D. Morgan, S.-J. Chung, and F. Y. Hadaegh, "Model Predictive Control of Swarms of Spacecraft Using Sequential Convex Programming," Journal of Guidance, Control, and Dynamics, vol. 37, no. 6, 2014, pp. 1725-1740. (PDF)
  8. S.-J. Chung, S. Bandyopadhyay, I. Chang, and F. Y. Hadaegh, "Phase Synchronization Control of Complex Networks of Lagrangian Systems on Adaptive Digraphs," Automatica, vol. 49, no. 5, May 2013, pp. 1148-1161.  (PDF)
  9. D. Morgan, S.-J. Chung, L. Blackmore, B. Acikmese, D. Bayard, and F. Y. Hadaegh, "Swarm-Keeping Strategies for Spacecraft under J2 and Atmospheric Drag Perturbations," Journal of Guidance, Control, and Dynamics, vol. 35, no. 5, September-October 2012, pp. 1492-1506. (PDF)
  10. S.-J. Chung, and J.-J. E. Slotine, "Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems," IEEE Transactions on Robotics, vol. 25, no. 3, pp. 686-700, June 2009. (PDF) 
  11. S.-J. Chung, U. Ahsun, and J.-J. E. Slotine, "Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach," Journal of Guidance, Control, and Dynamics, vol. 32, no. 2, Mar.-Apr. 2009, pp. 512-526. (PDF)
  12. S.-J. Chung, and D. W. Miller, "Propellant-Free Control of Tethered Formation Flight, Part 1: Linear Control and Experimentation," Journal of Guidance, Control, and Dynamics, vol. 31, no. 3, May-June 2008, pp. 571-584. (PDF)
  13. S.-J. Chung, J.-J. E. Slotine, and D. W. Miller, "Propellant-Free Control of Tethered Formation Flight, Part 2: Nonlinear Underactuated Control," Journal of Guidance, Control, and Dynamics, vol. 31, no. 5, September-October 2008, pp. 1437-1446. (PDF)
  14. S.-J. Chung, Jean-Jacques E. Slotine, and D. W. Miller, "Nonlinear Model Reduction and Decentralized Control of Tethered Formation Flight," Journal of Guidance, Control, and Dynamics, vol. 30, no. 2, 2007, pp. 390-400. (PDF)
  15. S.-J. Chung, D. W. Miller, and O. L. de Weck, "ARGOS Testbed: Study of Multidisciplinary Challenges of Future Spaceborne Interferometric Arrays," Optical Engineering, vol. 43, no. 9, September 2004, pp. 2156-2167. (PDF)



Call for Papers

IEEE Transactions on Robotics

Special Issue on Aerial Swarm Robotics


Guest Editors:

Prof. Soon-Jo Chung, Caltech and Jet Propulsion Laboratory, Pasadena, CA

Prof. Vijay Kumar, University of Pennsylvania, Philadelphia, PA

Dr. Aditya Paranjape, Imperial College London, London, UK

Prof. Philip Dames, Temple University, Philadelphia, PA

Prof. Shaojie Shen, Hong Kong University of Science and Technology, Hong Kong


Aerial robotics has been one of the most active areas of research within the robotics community, and recently there has been a surge of interest in aerial swarm systems. This IEEE T-RO special issue reflects on advances in aerial robotics and unmanned aerial vehicles, and aims to put together a cohesive set of research goals and visions towards realizing fully autonomous aerial swarm systems. In the near future, our airspace will be shared by a large number of aerial robots and autonomous aircraft, performing complex tasks that would be not possible for a single ground robot. A number of technological gaps need to be bridged in order to achieve full autonomy and reliable and safe operation of swarms of aerial robots. The papers selected for this special issue will represent the most promising ideas to address such research issues in modeling, design, control, sensing, planning, and computation of aerial swarms, with an emphasis on enhanced scalability, adaptability, robustness, and autonomy.


Contributions must have a direct connection to the central themes of the special issue: swarms of aerial robots flying in a three-dimensional (3-D) world. Each contribution should emphasize how to address challenges in transitioning from 2-D to 3-D in areas such as SWaP (size, weight, and power), swarm coordination or collaboration, and use of 3-D vehicle dynamics.

Topics of interest include the following:

  • Aerial swarming: modeling, design, and control
  • Motion planning, guidance, and control of distributed aerial systems
  • Algorithmic innovation enabling control of large-scale swarms of aerial robots
  • Novel system-level or hardware design concepts for aerial swarms
  • Distributed sensing or estimation techniques leveraging aerial swarm platforms
  • Real-world results and lessons learned from testing state-of-the-art techniques
  • Real-time optimal control, planning, and decision making for aerial swarms
  • Scalability, stability, and robustness issues in distributed aerial systems
  • Planning and control using vision-based sensing
  • Traffic control of swarms of drones in indoor or outdoor environments
  • Human-swarm interaction
  • Long-term autonomy of aerial swarms
  • Research issues in large-scale deployment of aerial swarms
  • Enabling applications using aerial swarms
  • Verification and validation of multi-agent systems and algorithms
  • Decentralized planning and its applications to aerial swarms

Interested authors are encouraged to contact the special issue editors with an abstract of their paper to confirm that their submission is within the scope of the special issue. Abstracts should be sent via email to,,,, and


Important Dates:

Call for Papers:  February 24, 2017

Deadline for Initial Paper Submission: May 31, 2017

Notification of First Round Decision: September 1, 2017

Deadline for Revised Paper Submission:  October 1, 2017

Target Publication Date: February 2018