Faculty Directory

Diaz-Mercado, Yancy

Diaz-Mercado, Yancy

Assistant Professor
Mechanical Engineering
Maryland Robotics Center
2104A Glenn L. Martin Hall, Building 088

Yancy Diaz-Mercado earned his Ph.D. from the Georgia Institute of Technology in 2016, and his M.S. from the same institution in 2014. He graduated magna cum laude in 2011 with a B.S. from the University of Puerto Rico at Mayaguez. He is the director of the Collaborative Controls and Research laboratory, whose research focus is on developing collaborative autonomy for multi-agent systems, robotics, and enabling human-swarm interactions.
Before joining the faculty at the University of Maryland College Park as an assistant professor in 2018, Dr. Diaz was a senior professional engineer with the Johns Hopkins University Applied Physics Laboratory and a member of the Advanced Concepts section within the Guidance, Navigation, and Controls group.

Dr. Diaz is interested in the control and coordination of multi-agent systems using control theory, optimization, and graph theory. In particular, he is interested in developing theoretically-sound, scalable control solutions that enable effective control of large-scale networked systems, and applying these to facilitate robot swarm manipulation.


IEEE Spectrum Spotlight

Your finger on a tablet can control entire swarms of robots.


Science Magazine Spotlight

How to control a robot fleet using a smart tablet.


WSB-TV (Channel 2 Action News) Interview with Craig Lucie

Georgia tech project could change how rescuers respond to disasters.

http://www.wsbtv.com/news/news/local/georgia- tech- project- could-change-how-rescuers-res/nmXNC/

Georgia Tech News.

Controlling swarms of robots with a finger.


Fox News.

Want to control a swarm of robots? Georgia tech has the answer.



Watch a simple tablet control robot swarm.


Tech Times.

Control your own robot army with the tip of your finger.


Tech Crunch.

Swarming robots can now follow your fingertips.


NH Voice.

Researchers program robots to respond to commands issued through tablet device.


Perfect Science.

Engineers program army of robots to respond to commands issued through tablet.


Spring 2020

ENME 462: Vibrations, Controls, and Optimization II

Fall 2019

ENME 808T: Advaced Topics: Network Control Systems

Spring 2019

ENME 361: Vibrations, Controls, and Optimization I

Fall 2018

ENME 462: Vibrations, Controls, and Optimization II


PhD Thesis

Diaz-Mercado, Yancy (2016): Interactions in Multi-Robot Systems. Georgia Institute of Technology, 2016.

Book Chapters

Diaz-Mercado, Yancy; Lee, Sung; Egerstedt, Magnus (2017): Human-Swarm Interactions via Coverage of Time-Varying Densities. In: Wang, Yue; Zhang, Fumin (Ed.): Trends in Control and Decision-Making for Human-Robot Collaboration Systems, Chapter 15, Springer, 2017.

Journal Articles

Davydov, Alexander; Diaz-Mercado, Yancy (2019): Sparsity Structure and Optimality of Multi-Robot Coverage Control. In: Control Systems Letters (L-CSS), IEEE, 4 (1), pp. 13-18, 2019, ISSN: 2475-1456.
Rivera-Ortiz, Phillip; Diaz-Mercado, Yancy (2018): On guaranteed capture in multi-player reachavoid games via coverage control. In: Control Systems Letters (L-CSS), IEEE, 2 (4), pp. 767–772, 2018, ISSN: 2475-1456.
Santos, Maria; Diaz-Mercado, Yancy; Egerstedt, Magnus (2018): Coverage control for multirobot teams with heterogeneous sensing capabilities. In: Robotics and Automation Letters (RA-L), IEEE, 3 (2), pp. 919–925, 2018.
Diaz-Mercado, Yancy; Egerstedt, Magnus (2016): Multirobot mixing via braid groups. In: Robotics, IEEE Transactions on, 2016, ISSN: 1552-3098.
Lee, Sung; Diaz-Mercado, Yancy; Egerstedt, Magnus (2015): Multi-Robot Control Using Time-Varying Density Functions. In: Robotics, IEEE Transactions on, 31 (2), pp. 489-493, 2015, ISSN: 1552-3098.

Conference Proceedings

Diaz-Mercado, Yancy; Jones, Austin; Egerstedt, Magnus; Belta, Calin (2015): Correct-by-Construction Synthesis for Multi-Robot Mixing. In: Decision and Control (CDC), IEEE 54nd Annual Conference on, 2015.
Diaz-Mercado, Yancy; Lee, Sung; Egerstedt, Magnus (2015): Distributed Dynamic Density Coverage for Human-Swarm Interactions. In: American Control Conference (ACC), pp. 353-358, 2015.
Diaz-Mercado, Yancy; Egerstedt, Magnus (2014): Multi-Robot Mixing of Nonholonomic Mobile Robots. In: Control Applications (CCA), IEEE Conference on, pp. 524-529, 2014.
Lu, Jun; Diaz-Mercado, Yancy; Egerstedt, Magnus; Zhou, Haomin; Chow, Shui-Nee (2014): Shortest Paths Through 3-Dimensional Cluttered Environments. In: Robotics and Automation (ICRA), IEEE International Conference on, pp. 6579-6585, 2014.
Diaz-Mercado, Yancy; Egerstedt, Magnus (2013): Multi-Robot Mixing Using Braids. In: Decision and Control (CDC), IEEE 52nd Annual Conference on, pp. 2001-2005, 2013, ISSN: 0743-1546.
Diaz-Mercado, Yancy; Lee, Sung; Egerstedt, Magnus; Young, Shih-Yih (2013): Optimal trajectory generation for next generation flight management systems. In: Digital Avionics Systems Conference (DASC), IEEE/AIAA 32nd, pp. 3C5-1-3C5-10, 2013, ISSN: 2155-7195.
Diaz-Mercado, Yancy; Pabon, Jose; Ortiz-Rivera, Eduardo (2011): Voltage regulation for a thermoelectric generator using a KY-converter. In: Center for Power Electronic Systems Annual Conference (CPES), 2011.
Garcia-Vergara, Sergio; Pabon, Jose; Diaz-Mercado, Yancy; Ortiz-Rivera, Eduardo (2010): An integrated undergraduate research experience in control, power electronics, and design using a Micromouse. In: Frontiers in Education, IEEE, 2010.
Diaz-Mercado, Yancy; Garcia-Vergara, Sergio; Pabon, Jose; Ortiz-Rivera, Eduardo (2010): Maximum power control based on matching dc motor dynamics and fuel cell dynamic behavior. In: Center for Power Electronic Systems Annual Conference (CPES), 2010.

Intellectual Property

Egerstedt, Magnus; Lee, Sung Gun; Diaz-Mercado, Yancy; Chopra, Smriti (2015): Control of Swarming Robots. 2015, (US Patent).
Egerstedt, Magnus; Lee, Sung; Diaz-Mercado, Yancy (2014): Density-Based Manipulation of Teams of Robots. 2014, (US Provisional Patent).