All Papers in ICRA 2021

All Papers in ICRA 2021

ICRA2021（38th IEEE International Conference on Robotics and Automation）：

Active Perception in Robotics

• Active Bayesian Multi-Class Mapping from Range and Semantic Segmentation Observations
• Attention-Based Probabilistic Planning with Active Perception
• Search-Based Planning for Active Sensing in Goal-Directed Coverage Tasks
• Bearing-Only Active Sensing under Merged Measurements

Adaptive Robotic Systems

• Robust Adaptive Synchronization of Interconnected Heterogeneous Quadrotors Transporting a Cable-Suspended Load
• Adaptive Failure Search Using Critical States from Domain Experts
• Policy Transfer Via Kinematic Domain Randomization and Adaptation
• Uniform Complete Observability of Mass and Rotational Inertial Parameters in Adaptive Identification of Rigid-Body Plant Dynamics

Aerial Robotics

• A Tethered Quadrotor UAV-Buoy System for Marine Locomotion
• Power Line Inspection Tasks with Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
• Distributed Formation Estimation Via Pairwise Distance Measurements
• Distributed Variable-Baseline Stereo SLAM from Two UAVs

Aerial Robotics: Control

• Adaptive Stiffness Estimation Impedance Control for Achieving Sustained Contact in Aerial Manipulation
• Model Predictive Control for Dynamic Quadrotor Bearing Formations
• Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-And-Slide Operations
• Motor and Perception Constrained NMPC for Torque-Controlled Generic Aerial Vehicles
• Fast Sampling-Based Next-Best-View Exploration Algorithm for a MAV
• Neuromorphic Control for Optic-Flow-Based Landing of MAVs Using the Loihi Processor
• Event-Driven Vision and Control for UAVs on a Neuromorphic Chip
• Deep Neuromorphic Controller with Dynamic Topology for Aerial Robots
• Conquering Textureless with RF-Referenced Monocular Vision for MAV State Estimation
• Control of an Aerial Manipulator Using a Quadrotor with a Replaceable Robotic Arm
• Self-Triggered Based Coordinate Control with Low Communication for Tethered Multi-UAV Collaborative Transportation
• Flying with Damaged Wings: The Effect on Flight Capacity and Bio-Inspired Coping Strategies of a Flapping Wing Robot

Aerial Robotics: Design and Mechanism

• Collision-Free Vector Field Guidance and MPC for a Fixed-Wing UAV
• Toward Impact-Resilient Quadrotor Design, Collision Characterization and Recovery Control to Sustain Flight after Collisions
• Soft Hybrid Aerial Vehicle Via Bistable Mechanism
• H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF
• The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors
• Aerial Multi-Camera Robotic Jib Crane
• Design, Sensing, and Control of a Novel UAV Platform for Aerial Drilling and Screwing
• Freyja: A Full Multirotor System for Agile & Precise Outdoor Flights

Aerial Robotics: Detection

• Context-Dependent Anomaly Detection for Low Altitude Traffic Surveillance
• GridNet: Image-Agnostic Conditional Anomaly Detection for Indoor Surveillance
• Autonomous Flying into Buildings in a Firefighting Scenario
• LoLa-SLAM: Low-Latency LiDAR SLAM Using Continuous Scan Slicing

Aerial Robotics: Learning and Adaptive Systems

• Learning-Based Bias Correction for Time Difference of Arrival Ultra-Wideband Localization of Resource-Constrained Mobile Robots
• CVaR-Based Flight Energy Risk Assessment for Multirotor UAVs Using a Deep Energy Model
• Hypergame-Based Adaptive Behavior Path Planning for Combined Exploration and Visual Search
• Morphologically Adapatative Quad-Rotor towards Acquiring High-Performance Flight: A Comparative Study and Validation

Aerial Robotics: Mechanics and Control

• Fixed-Root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings Using Rotor Thrust
• Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller
• Data-Driven MPC for Quadrotors
• Singularity-Free Aerial Deformation by Two-Dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller
• Underwater Stability of a Morphable Aerial-Aquatic Quadrotor with Variable Thruster Angles
• Development of Flapping Robot with Self-Takeoff from the Ground Capability
• Fast-Tracker: A Robust Aerial System for Tracking Agile Target in Cluttered Environments
• Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments (I)

Aerial Robotics: Optimization

• Practical and Accurate Generation of Energy-Optimal Trajectories for a Planar Quadrotor
• Optimization-Based Trajectory Planning for Tethered Aerial Robots
• A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure
• Optimal Tuning of the Lateral-Dynamics Parameters for Aerial Vehicles with Bounded Lateral Force

Aerial Robotics: Planning and Control

• Estimation and Adaption of Indoor Ego Airflow Disturbance with Application to Quadrotor Trajectory Planning
• Real-Time Active Detection of Targets and Path Planning Using UAVs
• EVA-Planner: Environmental Adaptive Quadrotor Planning
• EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors

Aerial Robotics: Sensing and Control

• MorphEyes: Variable Baseline Stereo for Quadrotor Navigation
• A Drive-Through Recharging Strategy for a Quadrotor
• Continuous-Time State & Dynamics Estimation Using a Pseudo-Spectral Parameterization
• Use of a MEMS Differential Pressure Sensor to Detect Ground, Ceiling, and Walls on Small Quadrotors
• UAV Localization Using Autoencoded Satellite Images
• Cooperative Transportation of Cable Suspended Payloads with MAVs Using Monocular Vision and Inertial Sensing
• Tracking and Relative Localization of Drone Swarms with a Vision-Based Headset
• SelfDeco: Self-Supervised Monocular Depth Completion in Challenging Indoor Environments

Aerial Robotics: Space Robotics and Automation

• An Anytime Algorithm for Chance Constrained Stochastic Shortest Path Problems and Its Application to Aircraft Routing
• An Intention Guided Hierarchical Framework for Trajectory-Based Teleoperation of Mobile Robots
• Dynamically Feasible Task Space Planning for Underactuated Aerial Manipulators
• Distance Estimation Using Self-Induced Noise of an Aerial Vehicle

Aerial Robotics: Tracking

• ADTrack: Target-Aware Dual Filter Learning for Real-Time Anti-Dark UAV Tracking
• Mutation Sensitive Correlation Filter for Real-Time UAV Tracking with Adaptive Hybrid Label
• Siamese Anchor Proposal Network for High-Speed Aerial Tracking
• Computationally Efficient Trajectory Planning for High Speed Obstacle Avoidance of a Quadrotor with Active Sensing

Aerial Systems: Mechanics and Control

• Novel Omnidirectional Aerial Manipulator with Elastic Suspension: Dynamic Control and Experimental Performance Assessment
• Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control
• Design of the High-Payload Flapping Wing Robot E-Flap
• Pneumatic-Mechanical Systems in UAVs: Autonomous Power Line Sensor Unit Deployment

Aerial Systems: Multi-Robots

• A Multi-UAV System for Detection and Elimination of Multiple Targets
• Optic Flow-Based Reactive Collision Prevention for MAV Using Fictitious Obstacle Hypothesis
• Autonomous Aerial Swarming in GNSS-Denied Environments with High Obstacle Density
• Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control

Aerial Systems: Perception and Autonomy

• Combined System Identification and State Estimation for a Quadrotor UAV
• Geometry-Aware Compensation Scheme for Morphing Drones
• Autonomous Quadrotor Flight Despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
• SplatPlanner: Efficient Autonomous Exploration Via Permutohedral Frontier Filtering

Applications of Micro and Nano Robotics

• Parallel Actuation of Nanorod Swarm and Nanoparticle Swarm to Different Targets
• Robotic Micromanipulation for Active Pin Alignment in Electronic Soldering Industry
• In-Situ Bonding of Multilayer Microfluidic Devices Assisted by a Fully-Automated Aligning System
• Robotic Handling of Micro-Objects Using Stochastic Optically-Actuated End-Effector
• Design of Soft Sensor for Feedback Control of Bio-Actuator Powered by Skeletal Muscle
• Molecular Transport of a Magnetic Nanoparticle Swarm towards Thrombolytic Therapy
• Efficient Single Cell Mechanical Measurement by Integrating a Cell Arraying Microfluidic Device with Magnetic Tweezer
• A Portable Acoustofluidic Device for Multifunctional Cell Manipulation and Reconstruction

Applications of Robotic Exploration

• Design and Soft-Landing Control of a Six-Legged Mobile Repetitive Lander for Lunar Exploration
• LEAF: Latent Exploration Along the Frontier
• LAFFNet: A Lightweight Adaptive Feature Fusion Network for Underwater Image Enhancement
• Ultrasound Doppler Imaging and Navigation of Collective Magnetic Cell Microrobots in Blood

Automation

• Viko: An Adaptive Gecko Gripper with Vision-Based Tactile Sensor
• POIS: Policy-Oriented Instance Segmentation for Ambidextrous Robot Picking
• Learning-Based Predictive Path Following Control for Nonlinear Systems under Uncertain Disturbances
• Thrust Enhancement of Wave-Driven Unmanned Surface Vehicle by Using Asymmetric Foil
• Proactive Action Visual Residual Reinforcement Learning for Contact-Rich Tasks Using a Torque-Controlled Robot
• ParametricNet: 6DoF Pose Estimation Network for Parametric Shapes in Stacked Scenarios
• Optimal Online Dispatch for High-Capacity Shared Autonomous Mobility-On-Demand Systems
• An Improved Magnetic Spot Navigation for Replacing the Barcode Navigation in Automated Guided Vehicles

Automation Award Session

• Fabric Defect Detection Using Tactile Information
• A General-Purpose Anomalous Scenario Synthesizer for Rotary Equipment
• Robust Trajectory Optimization Over Uncertain Terrain with Stochastic Complementarity
• Automated Fabrication of the High-Fidelity Cellular Micro-Scaffold through Proportion-Corrective Control of the Photocuring Process

Automation and Industrial Robotics

• Automated Generation of Robot Trajectories for Assembly Processes Requiring Only Sparse Manual Input
• Benchmarking Real-Time Capabilities of ROS 2 and OROCOS for Robotics Applications
• The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks
• In-Process Workpiece Geometry Estimation for Robotic Arc Welding Based on Supervised Learning for Multi-Sensor Inputs

Automation: Machine Learning

• Model-Based Reinforcement Learning with Provable Safety Guarantees Via Control Barrier Functions
• Continual Model-Based Reinforcement Learning with Hypernetworks
• Reinforcement Learning Based Temporal Logic Control with Maximum Probabilistic Satisfaction
• Solving Markov Decision Processes with Partial State Abstractions
• Exploiting Object Similarity for Robotic Visual Recognition (I)
• Team Assignment for Heterogeneous Multi-Robot Sensor Coverage through Graph Representation Learning
• GPR-Based Model Reconstruction System for Underground Utilities Using GPRNet
• Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter

Automation: Manufacturing

• Optimizing Part Placement for Improving Accuracy of Robot-Based Additive Manufacturing
• Automated Mosquito Salivary Gland Extractor for PfSPZ-Based Malaria Vaccine Production
• Safe Tumbling of Heavy Objects Using a Two-Cable Crane
• An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans

Automation: Performance Metrics

• Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort
• From Manual Operation to Collaborative Robot Assembly: An Integrated Model of Productivity and Ergonomic Performance
• Performance Metrics Calculation for Assembly Systems with Exponential Reliability Machines
• Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants

Automation: Sensors and Grasping

• Detect, Reject, Correct: Crossmodal Compensation of Corrupted Sensors
• Advanced Sensing Development to Support Robot Accuracy Assessment and Improvement
• Robotic Grasping of Fully-Occluded Objects Using RF Perception
• A Simulation-Based Grasp Planner for Enabling Robotic Grasping During Composite Sheet Layup

Autonomous Driving

• IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data
• HD Map Update for Autonomous Driving with Crowdsourced Data
• Distributed Dynamic Map Fusion Via Federated Learning for Intelligent Networked Vehicles
• Ground-Aware Monocular 3D Object Detection for Autonomous Driving

Autonomous Manipulation

• Precise Multi-Modal In-Hand Pose Estimation Using Low-Precision Sensors for Robotic Assembly
• Assembly Sequences Based on Multiple Criteria against Products with Deformable Parts
• A Versatile End-Effector for Pick-And-Release of Fabric Parts
• A Soft Robotic Hand Based on Bellows Actuators for Dishwashing Automation

Autonomous Navigation

• Shared Autonomy for Teleoperated Driving: A Real-Time Interactive Path Planning Approach
• Comfortable and Safe Decelerations for a Self-Driving Transit Bus
• A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift
• Urban Driving Games with Lexicographic Preferences and Socially Efficient Nash Equilibria
• Mesh Manifold Based Riemannian Motion Planning for Omnidirectional Micro Aerial Vehicles
• What Data Do We Need for Training an AV Motion Planner?
• Learn to Path: Using Neural Networks to Predict Dubins Path Characteristics for Aerial Vehicles in Wind
• Where to Go Next: Learning a Subgoal Recommendation Policy for Navigation among Pedestrians
• Amortized Q-Learning with Model-Based Action Proposals for Autonomous Driving on Highways
• Decision Making for Autonomous Driving Via Augmented Adversarial Inverse Reinforcement Learning
• Interpretable Goal-Based Prediction and Planning for Autonomous Driving
• Encoding Human Driving Styles in Motion Planning for Autonomous Vehicles

Autonomous Vehicle Navigation

• Deep Reinforcement Learning for Mapless Navigation of a Hybrid Aerial Underwater Vehicle with Medium Transition
• NF-iSAM: Incremental Smoothing and Mapping Via Normalizing Flows
• UPSLAM: Union of Panoramas SLAM
• RELLIS-3D Dataset: Data, Benchmarks and Analysis
• Fast Path Computation Using Lattices in the Sensor-Space for Forest Navigation
• Learning Barrier Functions with Memory for Robust Safe Navigation
• Hierarchical Object Map Estimation for Efficient and Robust Navigation
• Robot Navigation in Constrained Pedestrian Environments Using Reinforcement Learning

Best Paper Award Session

• An Artin Braid Group Representation of Knitting Machine State with Applications to Validation and Optimization of Fabrication Plans
• Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements
• Distributed Coordinated Path Following Using Guiding Vector Fields
• Sim-To-Real Learning of All Common Bipedal Gaits Via Periodic Reward Composition

Best Student Paper Award Session

• Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
• Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator
• Planning with Attitude
• Cascaded Filtering Using the Sigma Point Transformation

Biologically-Inspired Robots

• Multiphysics Simulation of Magnetically Actuated Robotic Origami Worms
• Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot
• An Open-Source Mechanical Design of ALARIS Hand: A 6-DOF Anthropomorphic Robotic Hand
• Biomimetic Operational Space Control for Musculoskeletal Humanoid Optimizing across Muscle Activation and Joint Nullspace

Biomedical Robotics

• Orientation Control of an Electromagnetically Actuated Soft-Tethered Colonoscope Based on 2OR Pseudo-Rigid-Body Model
• An Integrated High-Dexterity Cooperative Robotic Assistant for Intraocular Micromanipulation
• A Sigmoid-Colon-Straightening Soft Actuator with Peristaltic Motion for Colonoscopy Insertion Assistance: Easycolon
• A Miniature Manipulator with Variable Stiffness towards Minimally Invasive Transluminal Endoscopic Surgery
• A Magnetic Continuum Robot with Multi-Mode Control Using Opposite-Magnetized Magnets
• Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures
• Reinforcement Learning Control of a Novel Magnetic Actuated Flexible-Joint Robotic Camera System for Single Incision Laparoscopic Surgery
• Muscular Stimulation Based Biological Actuator from Locust’s Hindleg
• Three-Dimensional Positioning of the Micropipette for Intracytoplasmic Sperm Injection
• Robotic Cardinal Vein Microinjection of Zebrafish Larvae Based on 3D Positioning
• Modeling and Simulation of Running Expansion with Trunk and Pelvic Rotation Assist Suit
• A Bipolar Myoelectric Sensor-Enabled Human-Machine Interface Based on Spinal Module Activations

Cognitive Robotics Award Session

• Learning Task Space Actions for Bipedal Locomotion
• Learning Sampling Distributions Using Local 3D Workspace Decompositions for Motion Planning in High Dimensions
• Auto-Tuned Sim-To-Real Transfer
• How to Select and Use Tools? : Active Perception of Target Objects Using Multimodal Deep Learning

Computer Vision for Automation

• A Metric Space Perspective on Self-Supervised Policy Adaptation
• Efficient Recovery of Multi-Camera Motion from Two Affine Correspondences
• Dynamic-Aware Autonomous Exploration in Populated Environments
• Goal-Conditioned End-To-End Visuomotor Control for Versatile Skill Primitives

Computer Vision in Medical Robotics

• Towards Standardized Acquisition with a Dual-Probe Ultrasound Robot for Fetal Imaging
• A Kinematic Bottleneck Approach for Pose Regression of Flexible Surgical Instruments Directly from Images
• Robotic Instrument Segmentation with Image-To-Image Translation
• Surgical Gesture Recognition Based on Bidirectional Multi-Layer Independently RNN with Explainable Spatial Feature Extraction

Contact and Collision Control

• Overload Clutch Design for Collision Tolerant High–Speed Industrial Robots
• Safe Impacts with Soft Contacts Based on Learned Deformations
• A State-Dependent Damping Method to Reduce Collision Force and Its Variability
• Contact Forces Preintegration for Estimation in Legged Robotics Using Factor Graphs

Continuum Robotics

• Deep Reinforcement Learning for Concentric Tube Robot Control with a Goal-Based Curriculum
• Optimized 3D Path Planner for Steerable Catheters with Deductive Reasoning
• Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy
• Autonomous Steering of Concentric Tube Robots Via Nonlinear Model Predictive Control (I)
• Learning-Based Inverse Kinematics from Shape As Input for Concentric Tube Continuum Robots
• Effect of External and Internal Loads on Tension Loss of Tendon-Driven Continuum Manipulators
• Using Euler Curves to Model Continuum Robots
• Optimal Design of Continuum Robots with Reachability Constraints
• Design Considerations for a Steerable Needle Robot to Maximize Reachable Lung Volume
• An Active Steering Hand-Held Robotic System for Minimally Invasive Orthopaedic Surgery Using a Continuum Manipulator
• Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains
• Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery (I)

Control Applications

• Faithful Euclidean Distance Field from Log-Gaussian Process Implicit Surfaces
• Force Control of a Hydraulic Actuator with a Neural Network Inverse Model
• An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors
• D-ACC: Dynamic Adaptive Cruise Control for Highways with Ramps Based on Deep Q-Learning

Control Theory

• Mathematical Modeling of a Highly Underactuated Tool for Draping Fiber Plies on Double Curved Molds
• A General Framework to Increase Safety of Learning Algorithms for Dynamical Systems Based on Region of Attraction Estimation (I)
• A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions
• On-Line Force Capability Evaluation Based on Efficient Polytope Vertex Search
• Actuating Eigenmanifolds of Conservative Mechanical Systems Via Bounded or Impulsive Control Actions
• Robust Frequency-Based Structure Extraction
• A Hybrid Collision Model for Safety Collision Control
• Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback (I)
• Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
• A Multi-Resolution Frontier-Based Planner for Autonomous 3D Exploration
• A Direct Collocation Method for Optimization of EMG-Driven Wrist Muscle Musculoskeletal Model
• A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm (I)

Control and Optimization

• A Class of Optimal Switching Mixed Data Injection Attack in Cyber-Physical Systems
• Observation Space Matters: Benchmark and Optimization Algorithm
• Interleaving Fast and Slow Decision Making
• Multi-Output Infinite Horizon Gaussian Processes
• Online Extrinsic Calibration Based on Per-Sensor Ego-Motion Using Dual Quaternions
• Online Informative Path Planning for Active Information Gathering of a 3D Surface
• EKF-Based Real-Time Self-Attitude Estimation with Camera DNN Learning Landscape Regularities
• Advancing Mixture Models for Least Squares Optimization

Control for Multi-Robot Systems

• A Finite-Gain Stable Multi-Agent Robot Control Framework with Adaptive Authority Allocation
• Decentralized Connectivity Maintenance with Time Delays Using Control Barrier Functions
• Haptic-Enabled Decentralized Control of a Heterogeneous Human-Robot Team for Search and Rescue in Partially-Known Environments
• Multi-Robot Implicit Control of Herds

Control of Manipulation

• Real-Time Friction Estimation for Grip Force Control
• Uncertainty-Aware Deep Learning for Robot Touch: Application to Bayesian Tactile Servo Control
• Towards Integrated Tactile Sensorimotor Control in Anthropomorphic Soft Robotic Hands
• Simultaneous Tactile Exploration and Grasp Refinement for Unknown Objects
• An Efficient Approach to Closed-Loop Shape Control of Deformable Objects Using Finite Element Models
• Learning Stable Normalizing-Flow Control for Robotic Manipulation
• Model Predictive Robot-Environment Interaction Control for Mobile Manipulation Tasks
• Bilateral Teleoperation with Adaptive Impedance Control for Contact Tasks

Data-Driven Model Estimation

• Efficient Dynamics Estimation with Adaptive Model Sets
• Data-Driven Actuator Selection for Artificial Muscle-Powered Robots
• EMG-Based Neural Network Model of Human Arm Dynamics in a Haptic Training Simulator of Sinus Endoscopy
• Multimodal Dynamics Modeling for Off-Road Autonomous Vehicles

Deep Learning in Robotics

• Long-Range Hand Gesture Recognition Via Attention-Based SSD Network
• Spectral Temporal Graph Neural Network for Trajectory Prediction
• Dark Reciprocal-Rank: Teacher-To-Student Knowledge Transfer from Self-Localization Model to Graph-Convolutional Neural Network
• Efficient SE(3) Reachability Map Generation Via Interplanar Integration of Intra-Planar Convolutions
• FlowDriveNet: An End-To-End Network for Learning Driving Policies from Image Optical Flow and LiDAR Point Flow
• PocoNet: SLAM-Oriented 3D LiDAR Point Cloud Online Compression Network
• 3D Reconstruction of Deformable Colon Structures Based on Preoperative Model and Deep Neural Network
• DenseLiDAR: A Real-Time Pseudo Dense Depth Guided Depth Completion Network

Deep Learning in Robotics and Automation

• Stabilizing Neural Control Using Self-Learned Almost Lyapunov Critics
• Regularizing Action Policies for Smooth Control with Reinforcement Learning
• DeepReach: A Deep Learning Approach to High-Dimensional Reachability
• Deep Reinforcement Learning for Active Target Tracking

Distributed Robotic Systems

• Distributed Full-Consensus Control of Multi-Robot Systems with Range and Field-Of-View Constraints
• Scalable Recursive Distributed Collaborative State Estimation for Aided Inertial Navigation
• Distributed Multi-Target Tracking in Camera Networks
• GenGrid: A Generalised Distributed Experimental Environmental Grid for Swarm Robotics

Dynamic Manipulation

• Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
• Robot Dynamics Identification: A Reproducible Comparison with Experiments on the KINOVA Jaco2 (I)
• Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators
• Dynamic Manipulation of Deformable Objects with Implicit Integration

Dynamic Modeling

• Learning to Propagate Interaction Effects for Modeling Deformable Linear Objects Dynamics
• A Versatile Inverse Kinematics Formulation for Retargeting Motions Onto Robots with Kinematic Loops
• Modal Dynamic Modelling and Experimental Validation of a Curved Extensible Continuum Manipulator
• A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Dynamics and Control

• Model Based Evaluation of Human and Lower-Limb Exoskeleton Interaction During Sit to Stand Motion
• Efficient Solution Method Based on Inverse Dynamics for Optimal Control Problems of Rigid Body Systems
• Compensation for Undefined Behaviors During Robot Task Execution by Switching Controllers Depending on Embedded Dynamics in RNN
• Reduction of Ground Impact of a Powered Exoskeleton by Shock Absorption Mechanism on the Shank
• Switching Control in Two-Wheeled Self-Balancing Robots
• Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission
• A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
• Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach
• Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints
• Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking
• Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
• The Dynamic Effect of Mechanical Losses of Transmissions on the Equations of Motion of Legged Robots
• No-Frills Dynamic Planning Using Static Planners
• PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads Using a Single Camera and IMU
• Learning Agile Locomotion Skills with a Mentor
• Automating Behavior Selection for Affective Telepresence Robot

Field Robotics

• A Peg-In-Hole Task Strategy for Holes in Concrete
• Semantic Mapping of Construction Site from Multiple Daily Airborne LiDAR Data
• TaskNet: A Neural Task Planner for Autonomous Excavator
• Steering Induced Roll Quantification During Ship Turning Circle Manoeuvre
• A Coach-Based Bayesian Reinforcement Learning Method for Snake Robot Control
• Estimation of Spatially-Correlated Ocean Currents from Ensemble Forecasts and Online Measurements
• Semi-Supervised Gated Recurrent Neural Networks for Robotic Terrain Classification
• Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs
• Predicting the Post-Impact Velocity of a Robotic Arm Via Rigid Multibody Models: An Experimental Study
• Compliant Plant Exploration for Agricultural Procedures with a Collaborative Robot
• Conv1D Energy-Aware Path Planner for Mobile Robots in Unstructured Environments
• Resilient Collision-Tolerant Navigation in Confined Environments
• Data-Driven Sea State Estimation for Vessels Using Multi-Domain Features from Motion Responses
• A Fault Tolerant Control Architecture Based on Fault Trees for an Underwater Robot Executing Transect Missions
• How to Train Your Heron
• Robust Underwater Visual SLAM Fusing Acoustic Sensing
• Predicting the Time Until a Vehicle Changes the Lane Using LSTM-Based Recurrent Neural Networks
• Robot-Supervised Learning of Crop Row Segmentation
• Deep Regression versus Detection for Counting in Robotic Phenotyping
• Neural Network Controller for Autonomous Pile Loading Revised
• SLIP Walking Over Rough Terrain Via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
• DeepQ Stepper: A Framework for Reactive Dynamic Walking on Uneven Terrain
• Wetland Soil Strength Tester and Core Sampler Using a Drone
• Backstepping and Sliding Mode Control for AUVs Aided with Bioinspired Neurodynamics
• Place Recognition in Forests with Urquhart Tessellations
• Detecting and Counting Oysters
• Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization
• Locomotion and Control of a Friction-Driven Tripedal Robot

Field Robotics VI

• Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-Structured Environment
• Experimental Validation of Unsteady Wave Induced Loads on a Stationary Remotely Operated Vehicle
• ASVLite: A High-Performance Simulator for Autonomous Surface Vehicles
• Continuous Shortest Path Vector Field Navigation on 3D Triangular Meshes for Mobile Robots

Field Robotics: Agricultural Applications

• PATHoBot: A Robot for Glasshouse Crop Phenotyping and Intervention
• Using Depth Information and Colour Space Variations for Improving Outdoor Robustness for Instance Segmentation of Cabbage
• Joint Plant Instance Detection and Leaf Count Estimation for In-Field Plant Phenotyping
• MP-STSP: A Multi-Platform Steiner Traveling Salesman Problem Formulation for Precision Agriculture in Orchards

Field Robotics: Control

• Environment Reconfiguration Planning for Autonomous Robotic Manipulation to Overcome Mobility Constraints
• On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation (I)
• LaND: Learning to Navigate from Disengagements
• Adaptive Sampling Using POMDPs with Domain-Specific Considerations

Field Robotics: Machine Learning

• Meta Learning with Paired Forward and Inverse Models for Efficient Receding Horizon Control
• Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy
• BADGR: An Autonomous Self-Supervised Learning-Based Navigation System
• A Generative Model-Based Predictive Display for Robotic Teleoperation

Field Robotics: Mobile Robots

• Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks
• Integration of a Human-Aware Risk-Based Braking System into an Open-Field Mobile Robot​
• Online Velocity Fluctuation of Off-Road Wheeled Mobile Robots: A Reinforcement Learning Approach
• Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots

Field Robotics: Perception

• Three-Dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces
• Semantically-Aware Strategies for Stereo-Visual Robotic Obstacle Avoidance
• LiDARNet: A Boundary-Aware Domain Adaptation Model for Point Cloud Semantic Segmentation
• Real-Time Navigation Using Virtual Magnetic Fields

Field Robots

• Design and Experimental Validation of a Robotic System for Reactor Core Detector Removal
• Accurate and Robust Stereo Direct Visual Odometry for Agricultural Environment
• A General Approach for the Automation of Hydraulic Excavator Arms Using Reinforcement Learning
• Parameter Estimation of an Industrial Car-Like Tractor
• Enhancement for Robustness of Koopman Operator-Based Data-Driven Mobile Robotic Systems
• Collision Risk Assessment and Obstacle Avoidance Control for Autonomous Sailing Robots
• MSTC*: Multi-Robot Coverage Path Planning under Physical Constraints
• Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control

Force Control

• Admittance Control with Uknown Location of Interaction
• Low-Level Force-Control of MR-Hydrostatic Actuators
• Zero-Potential-Energy Motions Due to Stiffness in Impedance Control of Robotic Tasks: An Innovative Theory and Experimental Study
• KPAM 2.0: Feedback Control for Category-Level Robotic Manipulation

Grasping

• Dig-Grasping Via Direct Quasistatic Interaction Using Asymmetric Fingers: An Approach to Effective Bin Picking
• Uncertainty-Aware Self-Supervised Target-Mass Grasping of Granular Foods
• SCT-CNN: A Spatio-Channel-Temporal Attention CNN for Grasp Stability Prediction
• Tactile Velocity Estimation for Controlled In-Grasp Sliding
• Contact Space Computation of Two-Finger Gravity Based Caging Grasps Security Measure
• Analysis of Open-Loop Grasping from Piles
• Human Initiated Grasp Space Exploration Algorithm for an Underactuated Robot Gripper Using Variational Autoencoder
• An Underactuated Gripper Based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection

Grasping and Manipulation

• Adversarial Skill Learning for Robust Manipulation
• Learning Visual Affordances with Target-Orientated Deep Q-Network to Grasp Objects by Harnessing Environmental Fixtures
• Enhancing Robot Perception in Grasping and Dexterous Manipulation through Crowdsourcing and Gamification
• Teaching Robotic and Biomechatronic Concepts with a Gripper Design Project and a Grasping and Manipulation Competition

Hierarchical Motion Planning

• Q-Tree Search: An Information-Theoretic Approach Toward Hierarchical Abstractions for Agents with Computational Limitations (I)
• A Safe Hierarchical Planning Framework for Complex Driving Scenarios Based on Reinforcement Learning
• Behavior Planning at Urban Intersections through Hierarchical Reinforcement Learning
• Collision Avoidance in Tightly-Constrained Environments without Coordination: A Hierarchical Control Approach

Human-Centered Robotics

• Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm
• Conditioning Style on Substance: Plans for Narrative Observation
• Negative Emotion Management Using a Smart Shirt and a Robot Assistant
• Corrective Shared Autonomy for Addressing Task Variability
• A Robot Walks into a Bar: Automatic Robot Joke Success Assessment
• Reverse Psychology in Trust-Aware Human-Robot Interaction
• Hey Robot, Which Way Are You Going? Nonverbal Motion Legibility Cues for Human-Robot Interaction
• Robots Asking for Favors: The Effects of Directness and Familiarity on Persuasive HRI
• Smile Like You Mean It: Driving Animatronic Robotic Face with Learned Models
• I Know What You Meant: Learning Human Objectives by (Under)estimating Their Choice Set
• Analyzing Human Models That Adapt Online
• When Shall I Be Empathetic? the Utility of Empathetic Parameter Estimation in Multi-Agent Interactions

Human-In-The-Loop Control

• End-To-End Grasping Policies for Human-In-The-Loop Robots Via Deep Reinforcement Learning
• An Investigation of a Balanced Hybrid Active-Passive Actuator for Physical Human-Robot Interaction
• Situational Confidence Assistance for Lifelong Shared Autonomy
• Recognizing Orientation Slip in Human Demonstrations

Human-Robot Interaction

• Exploiting Inherent Human Motor Behaviour in the Online Personalisation of Human-Prosthetic Interfaces
• Design and Clinical Validation of a Robotic Ankle-Foot Simulator with Series Elastic Actuator for Ankle Clonus Assessment Training
• A Hybrid Impedance Controller for