IEEE T-RO

Curvature-Constrained Vector Field for Motion Planning of Nonholonomic Robots

具有曲率约束的向量场用于非完整机器人运动规划

Yike Qiao, Xiaodong He, An Zhuo, Zhiyong Sun, Weimin Bao, Zhongkui Li

机构 * School of Advanced Manufacturing and Robotics, Peking University（先进制造与机器人学院，北京大学） ； School of Automation and Electrical Engineering, University of Science and Technology Beijing（自动化与电气工程学院，北京科技大学） ； China Aerospace Science and Technology Corporation（中国航天科技集团） 纠错

AI总结 本文提出了一种具有曲率约束的向量场方法，用于非完整机器人运动规划，通过共同开发向量场和控制律，实现目标配置的收敛与轨迹曲率的限制。

Comments IEEE T-RO accepted, 20 pages, 22 figures

Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios

异质多机器人任务分配用于动态场景中的长续航任务

Alvaro Calvo, Jesus Capitan

机构 * Multi-robot & Control Systems group, Universidad de Sevilla（多机器人与控制系统组，塞维利亚大学） 纠错

AI总结 本文提出了一种异质多机器人任务分配框架，通过混合整数线性规划和启发式算法解决动态场景中长续航任务的协调分配问题，并验证了其在空中机器人检查任务中的有效性。

Comments 20 pages, 10 figures

Journal ref IEEE Transactions on Robotics, 2025

AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression

AsynEIO：基于高斯过程回归的异步单目事件-惯性里程计

Zhixiang Wang, Xudong Li, Yizhai Zhang, Fan Zhang, Panfeng Huang

机构 * IEEE 纠错

AI总结 AsynEIO 基于高斯过程回归，实现异步单目事件-惯性里程计，通过高时间分辨率跟踪特征轨迹并融合惯性数据，在高速和低光照场景中表现优异。

Comments 20 pages, 20 figures

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 5020-5039, 2025

DynoSAM: Open-Source Smoothing and Mapping Framework for Dynamic SLAM

DynoSAM：动态SLAM的开源平滑与建图框架

Jesse Morris, Yiduo Wang, Mikolaj Kliniewski, Viorela Ila

机构 * Australian Centre For Robotics (ACFR)（澳大利亚机器人中心） ； School of Aerospace, Mechanical and Mechatronic Engineering (AMME)（航空航天、机械与机电工程学院） ； University of Sydney（悉尼大学） 纠错

AI总结 DynoSAM通过整合动态和静态信息，提供高效的动态SLAM解决方案，实现精确的运动估计和多种下游应用。

Comments 20 pages, 10 figures. Submitted to T-RO Visual SLAM SI 2025

PushingBots: Collaborative Pushing via Neural Accelerated Combinatorial Hybrid Optimization

PushingBots: 通过神经加速的组合混合优化实现协作推搡

Zili Tang, Ying Zhang, Meng Guo

机构 * School of Advanced Manufacturing and Robotics, Peking University（先进制造与机器人学院，北京大学） 纠错

AI总结 PushingBots通过神经加速的组合混合优化实现机器人协作推搡，解决复杂环境中多物体精准推运问题。

Comments 20 pages, 24 figures. Accepted to IEEE Transactions on Robotics (T-RO), 2025

Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks

Tim-Lukas Habich, Aran Mohammad, Simon F. G. Ehlers, Martin Bensch, Thomas Seel, Moritz Schappler

机构 * Leibniz University Hannover（莱布尼茨汉诺威大学） 纠错

Comments Accepted for publication in IEEE Transactions on Robotics (T-RO) 2025

LIO-MARS: Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry

Jan Quenzel, Sven Behnke

Comments submitted to T-RO, 19 pages

Innovative Design of Multi-functional Supernumerary Robotic Limbs with Ellipsoid Workspace Optimization

Jun Huo, Jian Huang, Jie Zuo, Bo Yang, Zhongzheng Fu, Xi Li, Samer Mohammed

机构 * Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control（教育部图像处理与智能控制重点实验室） ； Hubei Key Laboratory of Brain-inspired Intelligent Systems（湖北省脑启发式智能系统重点实验室） ； School of Artificial Intelligence and Automation（人工智能与自动化学院） ； State Key Laboratory of Intelligent Vehicle Safety Technology（智能车辆安全技术国家重点实验室） ； Chongqing Changan Automobile Co Ltd（重庆长安汽车有限公司） ； School of Information Engineering（信息工程学院） ； Univ Paris-Est Créteil（巴黎-est创造大学） 纠错

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 4699-4718, 2025

Stochastic Adaptive Estimation in Polynomial Curvature Shape State Space for Continuum Robots

Guoqing Zhang, Long Wang

机构 * Department of Mechanical Engineering, Stevens Institute of Technology（机械工程系，史蒂文斯理工学院） 纠错

Comments 20 pages. IEEE Transactions on Robotics - Accepted; this arXiv version corresponds to the final revision. Supplementary appendix provided as an ancillary PDF

CENIC: Convex Error-controlled Numerical Integration for Contact

Vince Kurtz, Alejandro Castro

Comments 18 pages with 19 figures. Submitted to IEEE Transactions on Robotics (T-RO). The supplemental video is available publicly at https://www.youtube.com/watch?v=9ZZ15MfCgtI

Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion Policy

Dianye Huang, Nassir Navab, Zhongliang Jiang

机构 * Chair for Computer Aided Medical Procedures and Augmented Reality (CAMP), Technical University of Munich (TUM)（计算机辅助医疗程序与增强现实中心（CAMP），慕尼黑技术大学（TUM）） ； Munich Center for Machine Learning (MCML)（慕尼黑机器学习中心） ； Medical Intelligence and Robotic Cognition Lab (MIRoC), The University of Hong Kong (HKU)（医疗智能与机器人认知实验室（MIRoC），香港大学（HKU）） 纠错

Comments Accepted by IEEE T-RO

LPAC: Learnable Perception-Action-Communication Loops with Applications to Coverage Control

Saurav Agarwal, Ramya Muthukrishnan, Walker Gosrich, Vijay Kumar, Alejandro Ribeiro

机构 * GRASP Laboratory, University of Pennsylvania（宾夕法尼亚大学GRASP实验室） ； Massachusetts Institute of Technology（麻省理工学院） ； University of Pennsylvania（宾夕法尼亚大学） ； Department of Electrical and Systems Engineering, University of Pennsylvania（宾夕法尼亚大学电气与系统工程系） 纠错

Comments 20 Pages, 20 figures,

Journal ref in IEEE Transactions on Robotics, vol. 41, pp. 5986-6005, 2025

Simultaneous System Identification and Model Predictive Control with No Dynamic Regret

Hongyu Zhou, Vasileios Tzoumas

机构 * Department of Aerospace Engineering, University of Michigan（航空航天工程系，密歇根大学） 纠错

Comments IEEE Transactions on Robotics (T-RO). v6 update on stability analysis in Appendix J under relaxed Assumption 1

Concurrent-Allocation Task Execution for Multi-Robot Path-Crossing-Minimal Navigation in Obstacle Environments

Bin-Bin Hu, Weijia Yao, Yanxin Zhou, Henglai Wei, Chen Lv

机构 * School of Mechanical and Aerospace Engineering, Nanyang Technological University（机械与航空航天工程学院，南洋理工大学） ； School of Robotics, Hunan University（机器人学院，湖南大学） ； School of Transportation Science and Engineering, Beihang University（交通运输科学与工程学院，北航大学） 纠错

Comments Accepted in IEEE Transactions on Robotics

Controlling Deformable Objects with Non-negligible Dynamics: a Shape-Regulation Approach to End-Point Positioning

Sebastien Tiburzio, Tomás Coleman, Daniel Feliu-Talegon, Cosimo Della Santina

机构 * Department of Cognitive Robotics, Delft University of Technology（认知机器人系，代尔夫特理工大学） ； Institute of Robotics and Mechatronics, German Aerospace Center (DLR)（机器人与机电系统研究所，德国航空航天中心（DLR）） 纠错

Comments 15 pages, 18 figures. Accepted for publication as a Regular Paper in the IEEE Transactions on Robotics (T-RO)

Residual MPC: Blending Reinforcement Learning with GPU-Parallelized Model Predictive Control

Se Hwan Jeon, Ho Jae Lee, Seungwoo Hong, Sangbae Kim

机构 * Department of Mechanical Engineering, Massachusetts Institute of Technology（麻省理工学院机械工程系） ； Department of Mechanical Engineering, School of Smart Mobility, Korea University（韩国大学智能移动学院机械工程系） 纠错

Comments TRO submission preprint

SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantification

Yifu Tao, Maurice Fallon

Comments Accepted by T-RO. Webpage: https://dynamic.robots.ox.ac.uk/projects/silvr/

GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization

Haoming Zhang, Chih-Chun Chen, Heike Vallery, Timothy D. Barfoot

机构 * Institute of Automatic Control, Faculty of Mechanical Engineering, RWTH Aachen University（自动控制研究所，机械工程学院，亚琛RWTH大学） ； Department of BioMechanical Engineering, Delft University of Technology（生物机械工程系，代尔夫特技术大学） ； University of Toronto Robotics Institute（多伦多大学机器人研究所） 纠错

Comments Accepted for publication in the IEEE Transactions on Robotics

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 4003-4023, 2024

OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS

Simon Boche, Jaehyung Jung, Sebastián Barbas Laina, Stefan Leutenegger

机构 * Mobile Robotics Lab, School of Computation, Information and Technology (CIT) at the Technical University of Munich (TUM)（慕尼黑技术大学移动机器人实验室，计算信息与技术学院） ； Munich Institute of Robotics and Machine Intelligence (MIRMI)（慕尼黑机器人与机器智能研究所） ； Mobile Robotics Lab, ETH Zurich（苏黎世联邦理工学院移动机器人实验室） 纠错

Comments IEEE Transactions on Robotics (T-RO) - Special Issue: Visual SLAM

A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots

Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot

Comments 17 pages, 11 figures. Submitted to IEEE Transactions on Robotics

Non-submodular Visual Attention for Robot Navigation

Reza Vafaee, Kian Behzad, Milad Siami, Luca Carlone, Ali Jadbabaie

机构 * Department of Electrical & Computer Engineering, Northeastern University（电气与计算机工程系，东北大学） ； Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology（信息与决策系统实验室（LIDS），麻省理工学院） 纠错

Comments 22 pages; Accepted to appear in IEEE Transactions on Robotics (T-RO)

Zero-shot Whole-Body Manipulation with a Large-Scale Soft Robotic Torso via Guided Reinforcement Learning

Curtis C. Johnson, Carlo Alessi, Egidio Falotico, Marc D. Killpack

机构 * Department of Mechanical Engineering, Brigham Young University（机械工程系， Brigham Young 大学） ； Humanoid Sensing and Perception, Italian Institute of Technology（人形感知与感知，意大利理工研究院） ； The BioRobotics Institute, Scuola Superiore Sant’Anna（生物机器人研究所，圣安娜高等学院） 纠错

Comments Submitted to IEEE Transactions on Robotics for review

Online Multi-Robot Coordination and Cooperation with Task Precedence Relationships

Walker Gosrich, Saurav Agarwal, Kashish Garg, Siddharth Mayya, Matthew Malencia, Mark Yim, Vijay Kumar

机构 * GRASP Laboratory, University of Pennsylvania（GRASP实验室，宾夕法尼亚大学） ； Amazon Robotics（亚马逊机器人技术） ； Zipline 纠错

Comments 20 pages, 19 figures, Accepted to IEEE Transactions on Robotics (TR-O) August 2025

Learn Fast, Segment Well: Fast Object Segmentation Learning on the iCub Robot

Federico Ceola, Elisa Maiettini, Giulia Pasquale, Giacomo Meanti, Lorenzo Rosasco, Lorenzo Natale

Comments ©2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works

Journal ref IEEE Transactions on Robotics, Volume 38, Issue 5, October 2022

Memory Unscented Particle Filter for 6-DOF Tactile Localization

Giulia Vezzani, Ugo Pattacini, Giorgio Battistelli, Luigi Chisci, Lorenzo Natale

Journal ref IEEE Transactions on Robotics, Volume 33, Issue 5, October 2017

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm

Hao Cheng, Feitian Zhang

机构 * Robotics and Control Laboratory, School of Advanced Manufacturing and Robotics, and the State Key Laboratory of Turbulence and Complex Systems, Peking University（机器人与控制实验室，先进制造与机器人学院，湍流与复杂系统国家重点实验室，北京大学） 纠错

Journal ref IEEE Transactions on Robotics, vol. 41, pp. 5097-5116, 2025

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Zihang Zhao, Yuyang Li, Wanlin Li, Zhenghao Qi, Lecheng Ruan, Yixin Zhu, Kaspar Althoefer

机构 * Institute for Artificial Intelligence, Peking University（北京大学人工智能研究院） ； Beijing Institute for General Artificial Intelligence（北京人工智能研究院） ； Department of Automation, Tsinghua University（清华大学自动化系） ； College of Engineering, Peking University（北京大学工程学院） ； PKU-Wuhan Institute for Artificial Intelligence（北大-武汉人工智能研究院） 纠错

Comments Accepted for publication in the IEEE Transactions on Robotics (T-RO)

Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration

Ce Guo, Xieyuanli Chen, Zhiwen Zeng, Zirui Guo, Yihong Li, Haoran Xiao, Dewen Hu, Huimin Lu

机构 * College of Intelligence Science and Technology, National University of Defense Technology（智能科学与技术学院，国防科技大学） 纠错

Comments 20 pages, 19 figures, accepted by IEEE Transactions on Robotics

OmniMap: A General Mapping Framework Integrating Optics, Geometry, and Semantics

Yinan Deng, Yufeng Yue, Jianyu Dou, Jingyu Zhao, Jiahui Wang, Yujie Tang, Yi Yang, Mengyin Fu

机构 * School of Automation, Beijing Institute of Technology（自动化学院，北京理工大学） 纠错

Comments Accepted by IEEE Transactions on Robotics (TRO), project website: https://omni-map.github.io/

Raw2Event: Converting Raw Frame Camera into Event Camera

Zijie Ning, Enmin Lin, Sudarshan R. Iyengar, Patrick Vandewalle

机构 * EAVISE-PSI, ESAT, KU Leuven, Belgium（KU莱顿大学ESAT研究所） 纠错

Comments Submitted to IEEE Transactions on Robotics (Special Section on Event-based Vision for Robotics), under review. This version is submitted for peer review and may be updated upon acceptance