IEEE Robotics and Automation Letters最新文献

IEEE Robotics and Automation Society Information IEEE机器人与自动化学会信息

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-23 DOI: 10.1109/LRA.2025.3611052

引用次数: 0

IEEE Robotics and Automation Letters Information for Authors IEEE机器人与自动化作者信函信息

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-23 DOI: 10.1109/LRA.2025.3611054

引用次数: 0

Learning Routing Policy With Spatial Awareness: A Distance-Based Attention Mechanism for Multi-Robot Routing With Time Windows in Multi-Product Delivery 具有空间感知的路径策略学习：多产品配送中带时间窗口的多机器人路径选择的一种基于距离的注意机制

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-17 DOI: 10.1109/LRA.2025.3611118

Site Qu;Guoqiang Hu

{"title":"Learning Routing Policy With Spatial Awareness: A Distance-Based Attention Mechanism for Multi-Robot Routing With Time Windows in Multi-Product Delivery","authors":"Site Qu;Guoqiang Hu","doi":"10.1109/LRA.2025.3611118","DOIUrl":"https://doi.org/10.1109/LRA.2025.3611118","url":null,"abstract":"Deep Reinforcement Learning (DRL) approaches with Attention Mechanism have shown efficiency and effectiveness for combinatorial optimization problem, such as routing problem for autonomous vehicles (VRP). However, the real-world routing problems often involve intricate constraints and multiple objectives, introducing substantial complexity. Current attention mechanism uniformly treats all the points within service region, neglecting the relative spatial relationship among points, which results in unguided exploration within the large solution space of multi-objective routing problem, leading to a potential distraction dilemma where model struggles to effectively balance multiple objectives. To address this issue, we propose a Distance-Based Attention Mechanism (DBAM) that enhances spatial awareness by incorporating relative spatial relationship information into attention-based model, and implement this model to study a new multi-objective VRP variant: the Capacitated Vehicle Routing Problem with soft Time Windows for Multi-kind products delivery tasks (MKVRPsTW), in which the DRL model is trained to plan routes for a fleet of autonomous vehicles to serve customers with multi-kind products demands, while minimizing the total length, time window violation and balancing route lengths among vehicles. Experimental results reveal that DBAM outperforms the original attention-based DRL methods, graph-based DRL methods, and traditional baselines. Additionally, fine-tuning experiments for balance-oriented objectives further substantiates DBAM's flexibility and stability for quick adaptation.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11451-11458"},"PeriodicalIF":5.3,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145141705","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

High Vacuum Pressure Constant-Mass Soft Origami Actuation for Passive Constant-Force Operation 用于被动恒力操作的高真空恒质量软折纸驱动

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-17 DOI: 10.1109/LRA.2025.3611074

Faqihah Abu Bakar;Altair Coutinho;Jae Hyuck Jang;Hugo Rodrigue

{"title":"High Vacuum Pressure Constant-Mass Soft Origami Actuation for Passive Constant-Force Operation","authors":"Faqihah Abu Bakar;Altair Coutinho;Jae Hyuck Jang;Hugo Rodrigue","doi":"10.1109/LRA.2025.3611074","DOIUrl":"https://doi.org/10.1109/LRA.2025.3611074","url":null,"abstract":"This letter introduces a novel origami-inspired vacuum pneumatic actuator that operates as a passive force-generating element, capable of producing a near-constant force without active control. The actuator is fabricated from a Yoshimura-patterned film structure incorporating rigid facets and internal reinforcements, enabling large contraction strokes and consistent force output under constant vacuum conditions. A central feature of the design is its pre-vacuumed, sealed operation, which maintains stable internal pressure throughout the entire stroke without needing external pressure regulation. The combination of stable passive pressure and stable isobaric force results in a constant and passive force generated by the actuator. A numerical model based on conservation of energy and Boyle's law is presented to predict actuator behavior under both isobaric and constant-mass conditions. Experimental validation confirms the model's accuracy and demonstrates the actuator's stable force output at high constant-mass pressures. The actuator is further implemented in a wearable support suit aimed at reducing lower back strain during squatting and stooping motions. This work demonstrates a new approach for passive actuation using soft robotics principles and highlights potential applications in assistive wearable devices.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11459-11465"},"PeriodicalIF":5.3,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145141704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM 基于3D基础模型的分散式协同SLAM闭环闭合

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609204

Pierre-Yves Lajoie;Benjamin Ramtoula;Daniele De Martini;Giovanni Beltrame

{"title":"3D Foundation Model-Based Loop Closing for Decentralized Collaborative SLAM","authors":"Pierre-Yves Lajoie;Benjamin Ramtoula;Daniele De Martini;Giovanni Beltrame","doi":"10.1109/LRA.2025.3609204","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609204","url":null,"abstract":"Decentralized Collaborative Simultaneous Localization and Mapping (C-SLAM) techniques often struggle to identify map overlaps due to significant viewpoint variations among robots. Motivated by recent advancements in 3D foundation models, which can register images despite large viewpoint differences, we propose a robust loop closing approach that leverages these models to establish inter-robot measurements. In contrast to resource-intensive methods requiring full 3D reconstruction within a centralized map, our approach integrates foundation models into existing SLAM pipelines, yielding scalable and robust multi-robot mapping. Our contributions include: 1) integrating 3D foundation models to reliably estimate relative poses from monocular image pairs within decentralized C-SLAM; 2) introducing robust outlier mitigation techniques critical to the use of these relative poses and 3) developing specialized pose graph optimization formulations that efficiently resolve scale ambiguities. We evaluate our method against state-of-the-art approaches, demonstrating improvements in localization and mapping accuracy, alongside significant gains in computational and memory efficiency. These results highlight the potential of our approach for deployment in large-scale multi-robot scenarios.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11188-11195"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

RollUP: Rolling-Up End-Effector for Fabric Handling 卷起：织物处理的卷起末端执行器

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609086

Akinari Kobayashi;Wenbo Dong;Akira Seino;Fuyuki Tokuda;Kazuhiro Kosuge

{"title":"RollUP: Rolling-Up End-Effector for Fabric Handling","authors":"Akinari Kobayashi;Wenbo Dong;Akira Seino;Fuyuki Tokuda;Kazuhiro Kosuge","doi":"10.1109/LRA.2025.3609086","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609086","url":null,"abstract":"The fabric deforms easily due to the physical constraints of its environment. The deformation of the fabric shape, including wrinkles, makes the precise pick-and-place of a piece of fabric difficult to automate its handling. This letter proposes a <underline>Roll</u>ing <underline>UP</u> end-effector (RollUP) to pick-and-place a fabric piece while keeping it flat without making wrinkles. RollUP has a roller unit actuated by an electric motor and a vacuum suction slot on the roller. A fabric piece is picked up by air suction and rolled up. Rolling up the fabric reduces the unconstrained free area of the piece of fabric to be handled and makes it easier to handle a fabric with a large dimension. By attaching two RollUPs to the dual-arm manipulator, fabric tension can be controlled to keep it flat. Three experiments are conducted to evaluate the performance of RollUP. First, the grasping performance of the single RollUP for fabric pieces made of different materials and shapes is evaluated. Second, the relationship between the angle subtended by the fabric and the maximum force that can be applied to the fabric without slippage is investigated. Lastly, pick-and-place experiments involving a piece of fabric are performed using a dual manipulator system equipped with two RollUPs to evaluate performance.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11204-11211"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11159254","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090038","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Prespecified-Performance Kinematic Tracking Control for Aerial Manipulation 空中操纵的预定性能运动学跟踪控制

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609098

Hauzi Cao;Jiahao Shen;Zhengzhen Li;Qinquan Ren;Shiyu Zhao

{"title":"Prespecified-Performance Kinematic Tracking Control for Aerial Manipulation","authors":"Hauzi Cao;Jiahao Shen;Zhengzhen Li;Qinquan Ren;Shiyu Zhao","doi":"10.1109/LRA.2025.3609098","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609098","url":null,"abstract":"This letter studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to achieve tracking objectives within specified time constraints. To address this limitation, we propose a novel control framework comprising two key components: end-effector tracking control based on a user-defined preset trajectory and quadratic programming-based reference allocation. Compared with state-of-the-art approaches, the proposed method has several attractive features. First, it ensures that the end-effector reaches the desired position within a preset time while keeping the tracking error within a performance envelope that reflects task requirements. Second, quadratic programming is employed to allocate the references of the quadcopter base and the Delta arm, while considering the physical constraints of the aerial manipulator, thus preventing solutions that may violate physical limitations. The proposed approach is validated through three experiments. Experimental results demonstrate the effectiveness of the proposed algorithm and its capability to guarantee that the target position is reached within the preset time.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11086-11093"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145073393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Human Finger-Inspired Rigid-Soft Hybrid Gripper for Damage-Free and Fast Grasping 一种人体手指启发的无损伤快速抓取刚软混合夹具

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609096

Pengyu Zhou;Zeyang Gao;Xiaoxu Zhang;Xiaowen Yin;Hongbin Fang;Jian Xu

{"title":"A Human Finger-Inspired Rigid-Soft Hybrid Gripper for Damage-Free and Fast Grasping","authors":"Pengyu Zhou;Zeyang Gao;Xiaoxu Zhang;Xiaowen Yin;Hongbin Fang;Jian Xu","doi":"10.1109/LRA.2025.3609096","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609096","url":null,"abstract":"Rigid-soft hybrid grippers show good protection and high-payload capacity for fragile and heavy objects. However, because of inadequate actuation speed, it is still challenging for hybrid grippers to grasp moving objects in unstructured environments. To address this limitation, this article presents a rigid-soft hybrid gripper that can manually switch between four grasping modes, enabling it to not only grasp deformable and heavy objects like tofu and a dumbbell, but also capture moving objects with a low response time. Inspired by the structure of human fingers, a rigid-soft hybrid finger with a soft outer body and a rigid inner skeleton is designed. The finger consists of a soft pneumatic actuator (SPA), an endoskeleton linkage, a self-locking mechanism, a fast-responding mechanism, a pneumatic artificial muscle actuator (PAMA), a power transition bolt, and two split pins. The fast response speed of the PAMA and the amplification of the endoskeleton linkage enable the gripper to capture moving objects. A kinematic model is established to verify the endoskeleton linkage's angular velocity amplification ability and describe its bending angle. Experiments demonstrate that the rigid-soft finger can bend to 145.14<inline-formula><tex-math>$^circ $</tex-math></inline-formula> within 71 ms. Eventually, the gripper is mounted on a robotic arm to demonstrate that it can grasp fragile and deformable objects, hold heavy objects, and capture moving objects. The grasping strategies and structure of the gripper provide a new idea for designing a high-performance rigid-soft hybrid gripper.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11243-11250"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Semantic Exploration and Dense Mapping of Complex Environments Using Ground Robot With Panoramic LiDAR-Camera Fusion 基于全景LiDAR-Camera融合的地面机器人复杂环境的语义探索和密集映射

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609216

Xiaoyang Zhan;Shixin Zhou;Qianqian Yang;Yixuan Zhao;Hao Liu;Srinivas Chowdary Ramineni;Kenji Shimada

{"title":"Semantic Exploration and Dense Mapping of Complex Environments Using Ground Robot With Panoramic LiDAR-Camera Fusion","authors":"Xiaoyang Zhan;Shixin Zhou;Qianqian Yang;Yixuan Zhao;Hao Liu;Srinivas Chowdary Ramineni;Kenji Shimada","doi":"10.1109/LRA.2025.3609216","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609216","url":null,"abstract":"This paper presents a system for autonomous semantic exploration and dense semantic target mapping of a complex unknown environment using a ground robot equipped with a panoramic LiDAR-camera system. Existing approaches often struggle to strike a balance between collecting enough high-quality observations from multiple view angles and avoiding unnecessary repetitive traversal. To fill this gap, we propose a complete system that combines mapping and planning. We first redefine the task as completing both geometric coverage and semantic viewpoint observation. Subsequently, we manage semantic and geometric viewpoints separately and propose a novel Priority-driven Decoupled Local Sampler to generate local viewpoint sets. This allows for explicit multi-view semantic inspection and voxel coverage without unnecessary repetition. Building on this, we develop a hierarchical planner that ensures efficient global coverage. In addition, we propose a Safe Aggressive Exploration State Machine, which allows the robot to extend its exploration path planning into unknown areas while ensuring the robot's safety with recovery behavior and adaptive sampling. Our system includes a modular semantic target mapping component designed to utilize odometry and point clouds from existing SLAM algorithms, enabling point-cloud-level dense semantic target mapping. We validate our approach through extensive experiments in both realistic simulations and complex real-world environments. Simulation results demonstrate that our planner achieves faster exploration and shorter travel distances while guaranteeing a specified number of multi-view inspections. Real-world experiments further confirm the effectiveness of the system in achieving accurate dense semantic object mapping of unstructured environments.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11196-11203"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression 通过任务驱动的地图压缩与有袋类地面-空中机器人团队合作探索

IF 5.3 2区计算机科学

IEEE Robotics and Automation Letters Pub Date : 2025-09-11 DOI: 10.1109/LRA.2025.3609040

Angelos Zacharia;Mihir Dharmadhikari;Kostas Alexis

{"title":"Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression","authors":"Angelos Zacharia;Mihir Dharmadhikari;Kostas Alexis","doi":"10.1109/LRA.2025.3609040","DOIUrl":"https://doi.org/10.1109/LRA.2025.3609040","url":null,"abstract":"Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a marsupial ground-aerial robot team that leverages the complementary capabilities of both platforms. The framework employs a graph-based path planning algorithm to guide exploration and deploy the aerial robot in areas where its expected gain significantly exceeds that of the ground robot, such as large open spaces or regions inaccessible to the ground platform, thereby maximizing coverage and efficiency. To facilitate large-scale spatial information sharing, we introduce a bandwidth-efficient, task-driven map compression strategy. This method enables each robot to reconstruct resolution-specific volumetric maps while preserving exploration-critical details, even at high compression rates. By selectively compressing and sharing key data, communication overhead is minimized, ensuring effective map integration for collaborative path planning. Simulation and real-world experiments validate the proposed approach, demonstrating its effectiveness in improving exploration efficiency while significantly reducing data transmission.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11148-11155"},"PeriodicalIF":5.3,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145078641","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0