• Paul Bardunias, Alli Nilles, Remi Greenberg, Daniel Goldman, and Kirstin Petersen, “Emergent tunnel branching in Coptotermes formosanus (Shiraki) through group interaction and stigmergic signalling”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2021. (Abstract)
  • Jacob M. Peters, Jonathan Jaramillo, and Kirstin Petersen, “An adaptable approach to multiple animal tracking in Python”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2021. (Abstract)
  • Haron Abdel-Raziq and Kirstin Petersen. “Automated Monitoring of Pollinators With Agricultural Robots”. Accepted to the Intl. Conference on Automation, Robotics and Applications (ICARA) 2022.
  • Michael L Smith, Nils Napp, and Kirstin H. Petersen. “Imperfect comb construction reveals the architectural abilities of honeybees. (Paper)(Bibtex)
  • Steven Ceron, Marta A. Kimmel, Alexandra Nilles and Kirstin H. Petersen, “Soft Robotic Oscillators with Strain-Based Coordination,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7557-7563, Oct. 2021, doi: 10.1109/LRA.2021.3100599. (Paper)(Bibtex)
  • Jonathan Jaramillo, Andrew Lin, Emma Sung, Isabel Jane Hunt Richter, and Kirstin Petersen. “Mobile, Inflatable Interface to Support Human Robot Interaction Studies,” 2021 18th International Conference on Ubiquitous Robots (UR), 2021, pp. 320-325, doi: 10.1109/UR52253.2021.9494648. (Paper)(Bibtex)(Video)
  • Jingwen Du, Zach Brothers, Leah Valdes, Nils Napp, and Kirstin Petersen. “Automated Entrance Monitoring of Managed Bumble Bees”, SWARM 2021 (Paper)(Presentation video)(Open source files)
  • Jack Alexander Defay, Jacob M. Peters, and Kirstin Petersen. “A Customizable, Low-Cost Alternative for Distributed 2D Flow Sensing in Swarms”, accepted to SWARM 2021(Paper)(Presentation video)(Open source files)
  • Jiahe Chen, Yifang Liu, Adam Pacheck, Hadas Kress-Gazit, Nils Napp, and Kirstin Petersen. “Errors in Collective Robotic Construction”, accepted to DARS 2021.
  • Jonathan Jaramillo, Justine Vanden Heuvel, and Kirstin Petersen. “Low-Cost, Computer Vision-Based, Prebloom Yield Prediction in Vineyards”, Front. Agron., doi: 10.3389/fagro.2021.648080, 2021.(Paper)(Bibtex)
  • Haron Abdel-Raziq, Daniel Palmer, Phoebe Koenig, Alyosha Molnar, and Kirstin Petersen. “System design for inferring colony-level pollination activity through miniature bee-mounted sensors”, Sci Rep 11, 4239 (2021). (Paper)(Bibtex)


  • Andrea Ling, Mahshid Moghadasi, Kowin Shi, Jungshien Wei, and Kirstin Petersen. “Formica Forma: Explorations in Insect-Robot Collaboration for Emergent Design & Manufacturing”, in proceedings of the 40th annual conference of the association of computer aided design in architecture, ACADIA 2020: Distributed Proximities, book I, p 312. (Paper)
  • Nialah J. Wilson*, Steven Ceron*, Logan Horowitz, and Kirstin H. Petersen. “Scalable and Robust Fabrication, Operation, and Control of Compliant Modular Robots”, Scientific Frontiers special issue on Designing Self-Organization in the Physical Realm, doi: 10.3389/frobt.2020.00044, 2020. (Paper)(Video)(Bibtex)
  • Phoebe A. Koenig, Michael L. Smith, Logan H. Horowitz, Daniel M. Palmer, and Kirstin Petersen. “Artificial shaking signals in honey bee colonies elicit natural responses”, Scientific Reports 10, 3746 (2020). (Paper)(Bibtex)
  • Danna Ma*, Steven Ceron*, Gregory Kaiser, and Kirstin Petersen, “Simple Low-Cost Fabrication of Soft Sensors for Feature Reconstruction”, Robotics Automation Letters and the Intl. Conference on Soft Robotics (RoboSoft), 2020. (Paper)(Video)(Bibtex)
  • Jacob M. Peters and Kirstin Petersen, “Honeybee swarms use a flow-mediated pheromone signaling scheme to coordinate aggregation”, abstract presented at Society of Integrative and Comparative Biology Annual Meeting (SICB), 2020. (Abstract)


  • Yawen Deng, Yiwen Hua, Nils Napp, and Kirstin Petersen,  “Scalable Compiler for the TERMES Distributed Assembly System.” Robotics and Autonomous Systems Journal,, July 2019. (Paper)(Bibtex)
  • Steven Ceron, Nialah Wilson, Logan Horowitz, and Kirstin Petersen. “Comparative Analysis of Sensors in Rigid and Deformable Modular Robots for Shape Estimation”, Intl. Symp. for Multi-Robot and Multi-Agent Systems (MRS), 2019. (Paper)(Bibtex)
  • Steven Ceron*, Logan Horowitz*, Nialah Wilson, Claire Chen, Daniel Kim, and Kirstin Petersen. “DONUts: A Scalable, Self-Reconfigurable Robot with Compliant Modules”, extended abstract, Intl. Symp. for Multi-Robot and Multi-Agent Systems (MRS), 2019. (Paper)(Bibtex)
  • T. Duggan*, L. Horowitz*, A. Ulug*, E. Baker, and K. Petersen. “Inchworm-Inspired Locomotion in Untethered Soft Robots”. International Conference on Soft Robotics (RoboSoft), 2019. (Paper)(Teaser video)(Bibtex).
  • Kirstin H. Petersen, Nils Napp, Robert Stuart-Smith, Daniela Rus, and Mirko Kovac. “A review of collective robotic construction.” Science Robotics, 13 Mar 2019: Vol. 4, Issue 28, DOI: 10.1126/scirobotics.aau8479. (Paper)(Teaser video)(Bibtex).
  • Petersen, Kirstin H., and Robert F. Shepherd. “Fluid-driven intrinsically soft robots.” In Robotic Systems and Autonomous Platforms, pp. 61-84. Woodhead Publishing, 2019. (Book chapter)(Bibtex)


  • Yawen Deng, Yiwen Hua, Nils Napp, and Kirstin Petersen,  “Scalable Compiler for the TERMES Distributed Assembly System.” Distributed Autonomous Robotic Systems. Springer, Cham, 2019. 125-138. (Pdf)(Video)(BibtexBest Student Paper Award.
  • Yiwen Hua, Yawen Deng, and Kirstin Petersen, “Robots building bridges, not walls.” In 2018 IEEE 3rd International Workshops on Foundations and Applications of Self* Systems (FAS* W) (pp. 154-159). IEEE. (Pdf)(Video)(Bibtex)
  • Yiwen Hua, “Building 3D Structures with an Intelligent Robot Swarm”, MS thesis, 2018. (Pdf)
  • Yawen Deng, “Scalable Compiler for the TERMES Distributed Assembly System”, MS thesis, 2018. (Pdf)
  • Vaidehi Patel, “Enabling Human Support of Robot Swarms”, MS thesis, 2018. (Pdf)
  • H. Abdel-Raziq, D. Palmer, M. Smith, C. Chu, J. Huang, A. Molnar, and K. Petersen. “Leveraging Honey Bees as Bio-Cyber Physical Systems”. Janelia Workshop for Distributed, Collective Computation in Biology and Artificial Systems, Washington DC, 2018. (Poster)
  • C. Futran, S. Ceron, B. MacMurray, R. Shepherd, and K. Petersen. “Leveraging Fluid-Resistance in Soft Robots”. First international IEEE-RAS conference on Soft Robotics (RoboSoft), Livorno, 2018. (Pdf)(Video)(Bibtex)
  • S. Ceron, A. Kurumunda, E. Garg, M. Kim, T. Yeku, and K. Petersen. “Popcorn-Driven Robotic Actuators”. IEEE International Conference on Robotics and Automation (ICRA), Brisbane, 2018. (Pdf)(Video)


  • Petersen, Kirstin, and Radhika Nagpal. “Complex Design by Simple Robots: A Collective Embodied Intelligence Approach to Construction.” Architectural Design 87.4 (2017): 44-49. (Paper)(Bibtex)
  • P. Polygerinos, N. Correll, S. Morin, B. Mosadegh, C. Onal, K. Petersen, M. Cianchetti, M. Tolley, and R. Shepherd. “Soft Robotics: Review of Fluid-Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human-Robot Interaction”. Advanced Materials (2017). DOI: 10.1002/adem.201700016. (Paper) (Cover)(BibtexMost read in July 2017.
  • A. Sprowitz, C. Goettler, A. Sinha, C. Caer, M. Oztekin, K. Petersen, and M. Sitti. “Scalable Pneumatic and Tendon Driven Robotic Joint Inspired by Jumping Spiders”. IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017. (Pdf)(Video)(Bibtex)
  • L. Hines, K. Petersen, and M. Sitti. “Asymmetric Stable States in Inflated Dielectric Elastomer Actuators”. IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017. (Pdf)(Video)(Bibtex)
  • S. Viswanathan, R., K. Petersen. “OpenMind: Human-Swarm Interaction in Minecraft”. Bits On Our Minds (BOOM) 2017, Ithaca NY. (Poster). BOOM Disney award winner.
  • W. Abajian, L. Chen, E. Ng, and K. Petersen. “ArachnaBot: Spider-Inspired Jumping Robot”. North East Robotics Colloquium (NERC) 2017, Ithaca NY. (Poster)
  • Alberto Gutiérrez, Boling Hu, and K. Petersen. “Electronics for Autonomous Construction Robot”. Cornell MEng Poster session, 2017, Ithaca NY. (Poster). Best MEng Project in Category.


  • L. Hines*, K. Petersen*, G. Z. Lum, and M. Sitti. “Soft Actuators for Small-Scale Robotics.” Advanced Materials (2016): 1521-4095. DOI: 10.1002/adma.201603483. (Paper)(Bibtex)
  • D. Andreen, P. Jenning, N. Napp, and K. Petersen, “Emergent Structures Assembled by Large Swarms of Simple Robots”. Acadia 2016: Posthuman Frontiers, Ann Arbor, Michigan, November, 2016. (Pdf)(Bibtex)
  • L. Hines*, K. Petersen*, & M. Sitti, “Inflated Soft Actuators with Reversible Stable Deformations,” Advanced Materials Communications, DOI: 10.1002/adma. 201600107, 2016. (Paper)(Video)(Bibtex)


  • K. Petersen, P. Bardunias, N. Napp, J. Werfel, R. Nagpal, & S. Turner, “Arrestant property of recently manipulated soil on Macrotermes michaelseni as determined through visual tracking and automatic labeling of individual termite behaviors,” Journal of Behavioral Processes, vol. 116: 8-11, 2015. (Paper)(Bibtex)


  • J. Werfel, K. Petersen, & R. Nagpal, “Designing collective behavior in a termite-inspired robot construction team,” Science, 343(6172):754-758, 2014 (Paper) (Cover)(Bibtex). Voted among the top ten Scientific Breakthroughs of 2014 by Science.


  • K. Petersen, N. Napp, J. Chin-Lee, J. Werfel, & R. Nagpal, “3D Tracking of Building Processes in Macrotermes,” Workshop, Intl. Conference on Pattern Recognition (ICPR), 2012. (Pdf)


  • K. Petersen, J. Werfel, & R. Nagpal, “TERMES: An Autonomous Robotic System for Three- Dimensional Collective Construction,” Robotics: Science and Systems Conference (RSS), 2011. (Pdf)(Video)(Bibtex)
  • J. Werfel, K. Petersen, & R. Nagpal, “Distributed Multi-Robot Algorithms for the TERMES 3D Collective Construction System,” Workshop, Intl. Conference on Robots and Systems (IROS), 2011. (Pdf)(Bibtex)


*Equally contributing first authors.