IEEE T-RO

CMRNext: Camera to LiDAR Matching in the Wild for Localization and Extrinsic Calibration

Daniele Cattaneo, Abhinav Valada

Comments Accepted to IEEE Transactions on Robotics (T-RO), 2025

Distributed Coverage Control for Time-Varying Spatial Processes

Federico Pratissoli, Mattia Mantovani, Amanda Prorok, Lorenzo Sabattini

Journal ref IEEE Transactions on Robotics, 2025

Multi-query Robotic Manipulator Task Sequencing with Gromov-Hausdorff Approximations

Fouad Sukkar, Jennifer Wakulicz, Ki Myung Brian Lee, Weiming Zhi, Robert Fitch

Comments Conditionally accepted into IEEE Transactions on Robotics (TRO). 17 Pages. 16 Figures

Efficient variable-length hanging tether parameterization for marsupial robot planning in 3D environments

S. Martínez-Rozas, D. Alejo, F. Caballero, L. Merino, M. A. Pérez-Cutiño, F. Rodriguez, V. Sánchez-Canales, I. Ventura, J. M. Díaz-Bañez

Comments Submitted in T-RO

GCBF+: A Neural Graph Control Barrier Function Framework for Distributed Safe Multi-Agent Control

Songyuan Zhang, Oswin So, Kunal Garg, Chuchu Fan

Comments 20 pages, 15 figures; Accepted by IEEE Transactions on Robotics (T-RO)

Fast Ergodic Search with Kernel Functions

Max Muchen Sun, Ayush Gaggar, Peter Trautman, Todd Murphey

Comments Accepted to IEEE Transactions on Robotics (T-RO). 20 pages, 9 figures. Project website: https://sites.google.com/view/kernel-ergodic/

DIAL: Distribution-Informed Adaptive Learning of Multi-Task Constraints for Safety-Critical Systems

Se-Wook Yoo, Seung-Woo Seo

Comments 16 pages, 14 figures, 6 tables, submission to T-RO in 2024

Safe and Agile Transportation of Cable-Suspended Payload via Multiple Aerial Robots

Yongchao Wang, Junjie Wang, Xiaobin Zhou, Tiankai Yang, Chao Xu, Fei Gao

Comments 20 pages, 14 figures, submitted to IEEE Transactions on Robotics

Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor

Trevor Ablett, Oliver Limoyo, Adam Sigal, Affan Jilani, Jonathan Kelly, Kaleem Siddiqi, Francois Hogan, Gregory Dudek

Comments 14 pages, 22 figures

Journal ref IEEE Transactions on Robotics (T-RO), Vol. 41, pp. 946-959, Jan. 2025

Generative Graphical Inverse Kinematics

Oliver Limoyo, Filip Marić, Matthew Giamou, Petra Alexson, Ivan Petrović, Jonathan Kelly

Comments 17 pages, 9 figures

Journal ref IEEE Transactions on Robotics (T-RO), Vol. 41, pp. 1002-1018, Jan. 2025

On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics

Connor Holmes, Frederike Dümbgen, Timothy D Barfoot

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 4805-4824, 2024

SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics

Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot

Comments Revised Version Submitted to T-RO

Design and Benchmarking of A Multi-Modality Sensor for Robotic Manipulation with GAN-Based Cross-Modality Interpretation

Dandan Zhang, Wen Fan, Jialin Lin, Haoran Li, Qingzheng Cong, Weiru Liu, Nathan F. Lepora, Shan Luo

Comments Accepted by IEEE Transactions on Robotics

Attribute-Based Robotic Grasping with Data-Efficient Adaptation

Yang Yang, Houjian Yu, Xibai Lou, Yuanhao Liu, Changhyun Choi

Comments Project page: https://z.umn.edu/attr-grasp. arXiv admin note: substantial text overlap with arXiv:2104.02271

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 1566-1579, 2024

Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior

Kechun Xu, Zhongxiang Zhou, Jun Wu, Haojian Lu, Rong Xiong, Yue Wang

Comments Accepted by T-RO

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy

Ihab S. Mohamed, Junhong Xu, Gaurav S Sukhatme, Lantao Liu

Comments This paper comprises 20 pages, 11 figures, 4 tables, 1 algorithm, and 1 appendix. It has been accepted for publication in the IEEE Transactions on Robotics (T-RO), December 2024

MPC for Humanoid Gait Generation: Stability and Feasibility

Nicola Scianca, Daniele De Simone, Leonardo Lanari, Giuseppe Oriolo

Comments To appear in the IEEE Transactions on Robotics, 2020

Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots

Guanrui Li, Xinyang Liu, Giuseppe Loianno

Comments Guanrui Li and Xinyang Liu contributed equally to this paper. This paper has been accepted to IEEE Transaction on Robotics (T-RO): https://ieeexplore.ieee.org/document/10758214. Please cite it with the proper format

Journal ref IEEE Transactions on Robotics, 2024

State Estimation for Continuum Multi-Robot Systems on SE(3)

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

Comments 20 pages, 18 figures, accepted for publication in IEEE Transactions on Robotics

Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior

Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot

Comments Accepted to IEEE Transactions on Robotics (2024-11-02)

Impact-Aware Control using Time-Invariant Reference Spreading

Jari van Steen, Nathan van de Wouw, Alessandro Saccon

Comments 15 pages, 10 figures. Submitted to IEEE Transactions on Robotics (T-RO)

ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets

Bowen Xu, Xiting Zhao, Delin Feng, Yuanyuan Yang, Sören Schwertfeger

Comments 19 pages, 27 figures. Submitted to IEEE Transactions on Robotics

Single-grasp deformable object discrimination: the effect of gripper morphology, sensing modalities, and action parameters

Michal Pliska, Shubhan Patni, Michal Mares, Pavel Stoudek, Zdenek Straka, Karla Stepanova, Matej Hoffmann

Comments 13 pages, 8 figures

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 4414-4426, 2024

Impact-Aware Robotic Manipulation: Quantifying the Sim-To-Real Gap for Velocity Jumps

Jari van Steen, Daan Stokbroekx, Nathan van de Wouw, Alessandro Saccon

Comments 13 pages, 9 figures. Submitted to IEEE Transactions on Robotics

Safe Reinforcement Learning on the Constraint Manifold: Theory and Applications

Puze Liu, Haitham Bou-Ammar, Jan Peters, Davide Tateo

Comments 19 pages; sumitted to IEEE Transactions on Robotics

Automatic Tissue Traction Using Miniature Force-Sensing Forceps for Minimally Invasive Surgery

Tangyou Liu, Xiaoyi Wang, Jay Katupitiya, Jiaole Wang, Liao Wu

Comments 15 pages, 14 figures, accepted by T-RO

ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty

Joey Wilson, Yuewei Fu, Joshua Friesen, Parker Ewen, Andrew Capodieci, Paramsothy Jayakumar, Kira Barton, Maani Ghaffari

Comments arXiv admin note: text overlap with arXiv:2209.10663

Journal ref 10.1109/TRO.2024.3453771

An Efficient Representation of Whole-body Model Predictive Control for Online Compliant Dual-arm Mobile Manipulation

Wenqian Du, Ran Long, João Moura, Jiayi Wang, Saeid Samadi, Sethu Vijayakumar

Comments Under Review for IEEE Transactions on Robotics

Integrating One-Shot View Planning with a Single Next-Best View via Long-Tail Multiview Sampling

Sicong Pan, Hao Hu, Hui Wei, Nils Dengler, Tobias Zaenker, Murad Dawood, Maren Bennewitz

Comments Accepted to IEEE Transactions on Robotics. Full appendices version

Adaptive Self-Calibration for Minimalistic Collective Perception by Imperfect Robot Swarms

Khai Yi Chin, Carlo Pinciroli

Comments 17 pages, 8 figures, submitted to IEEE T-RO