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IEEE Transactions on Robotics最新文献

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SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation 经营范围：用于不确定性感知动态导航的随机地图占用预测引擎
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-09 DOI: 10.1109/tro.2025.3578234
Zhanteng Xie, Philip Dames
{"title":"SCOPE: Stochastic Cartographic Occupancy Prediction Engine for Uncertainty-Aware Dynamic Navigation","authors":"Zhanteng Xie, Philip Dames","doi":"10.1109/tro.2025.3578234","DOIUrl":"https://doi.org/10.1109/tro.2025.3578234","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"4 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144252127","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics SDPRLayers：机器人中基于多项式优化问题的可认证反向传播
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-09 DOI: 10.1109/tro.2025.3578228
Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
{"title":"SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics","authors":"Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot","doi":"10.1109/tro.2025.3578228","DOIUrl":"https://doi.org/10.1109/tro.2025.3578228","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"25 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144252136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
On the Fully Decoupled Rigid-body Dynamics Identification of Serial Industrial Robots 系列工业机器人全解耦刚体动力学辨识
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-09 DOI: 10.1109/tro.2025.3578229
Jinfei Hu, Zelong Chen, Yinjie Lin, Zheng Chen, Bin Yao, Xin Ma
{"title":"On the Fully Decoupled Rigid-body Dynamics Identification of Serial Industrial Robots","authors":"Jinfei Hu, Zelong Chen, Yinjie Lin, Zheng Chen, Bin Yao, Xin Ma","doi":"10.1109/tro.2025.3578229","DOIUrl":"https://doi.org/10.1109/tro.2025.3578229","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"12 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144252143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map 占位slam：一种高效鲁棒的机器人姿态和占位图同步优化算法
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-09 DOI: 10.1109/tro.2025.3578227
Yingyu Wang, Liang Zhao, Shoudong Huang
{"title":"Occupancy-SLAM: An Efficient and Robust Algorithm for Simultaneously Optimizing Robot Poses and Occupancy Map","authors":"Yingyu Wang, Liang Zhao, Shoudong Huang","doi":"10.1109/tro.2025.3578227","DOIUrl":"https://doi.org/10.1109/tro.2025.3578227","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"558 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144252132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Rhythm-based Power Allocation Strategy of Bionic Tail-Flapping for Propulsion Enhancement 基于节奏的仿生扑尾推进功率分配策略
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-09 DOI: 10.1109/tro.2025.3577985
Biao Wu, Chaoyi Huang, Xiangru Li, Jiahao Xu, Sicong Liu, James Lam, Zheng Wang, Jian S. Dai
{"title":"Rhythm-based Power Allocation Strategy of Bionic Tail-Flapping for Propulsion Enhancement","authors":"Biao Wu, Chaoyi Huang, Xiangru Li, Jiahao Xu, Sicong Liu, James Lam, Zheng Wang, Jian S. Dai","doi":"10.1109/tro.2025.3577985","DOIUrl":"https://doi.org/10.1109/tro.2025.3577985","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"18 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144252145","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Real-Time Multi-Level Terrain-Aware Path Planning for Ground Mobile Robots in Large-Scale Rough Terrains 大尺度粗糙地形下地面移动机器人实时多级地形感知路径规划
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-06 DOI: 10.1109/tro.2025.3577015
Yuxiang Li, Kun Chen, Yifei Wang, Weifan Zhang, Jiancheng Wang, Haoyao Chen, Yunhui Liu
{"title":"Real-Time Multi-Level Terrain-Aware Path Planning for Ground Mobile Robots in Large-Scale Rough Terrains","authors":"Yuxiang Li, Kun Chen, Yifei Wang, Weifan Zhang, Jiancheng Wang, Haoyao Chen, Yunhui Liu","doi":"10.1109/tro.2025.3577015","DOIUrl":"https://doi.org/10.1109/tro.2025.3577015","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"39 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144236918","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Tactile Elastography 触觉弹性成像
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-06 DOI: 10.1109/tro.2025.3577024
Yichen Xiang, Lifeng Zhu, Aiguo Song, Yongjie Jessica Zhang
{"title":"Tactile Elastography","authors":"Yichen Xiang, Lifeng Zhu, Aiguo Song, Yongjie Jessica Zhang","doi":"10.1109/tro.2025.3577024","DOIUrl":"https://doi.org/10.1109/tro.2025.3577024","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"33 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144237233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Stable Object Placement Planning From Contact Point Robustness 基于接触点鲁棒性的稳定物体放置规划
IF 9.4 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-06 DOI: 10.1109/TRO.2025.3577049
Philippe Nadeau;Jonathan Kelly
{"title":"Stable Object Placement Planning From Contact Point Robustness","authors":"Philippe Nadeau;Jonathan Kelly","doi":"10.1109/TRO.2025.3577049","DOIUrl":"10.1109/TRO.2025.3577049","url":null,"abstract":"We introduce a planner designed to guide robot manipulators in stably placing objects within complex scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then determines a placement pose that solicits the selected points. This is instead of sampling poses, identifying contact points, and evaluating pose quality. Our algorithm facilitates stability-aware object placement planning, imposing no restrictions on object shape, convexity, or mass density homogeneity, while avoiding combinatorial computational complexity. Our proposed stability heuristic enables our planner to find a solution about 20 times faster when compared to the same algorithm not making use of the heuristic and eight times faster than a state-of-the-art method that uses the traditional sample-and-evaluate approach. The proposed planner is also more successful in finding stable placements than the five other benchmarked algorithms. Derived from first principles and validated in ten real robot experiments, our approach provides a general and scalable solution to the problem of rigid object placement planning.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"3669-3683"},"PeriodicalIF":9.4,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144236854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Seeing Through Uncertainty: Robot Pose Estimation Based on Imperfect Prior Kinematic Knowledge 透视不确定性：基于不完全先验运动学知识的机器人姿态估计
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-06 DOI: 10.1109/tro.2025.3577030
Leonard Klüpfel, Lukas Burkhard, Anne Elisabeth Reichert, Maximilian Durner, Rudolph Triebel
{"title":"Seeing Through Uncertainty: Robot Pose Estimation Based on Imperfect Prior Kinematic Knowledge","authors":"Leonard Klüpfel, Lukas Burkhard, Anne Elisabeth Reichert, Maximilian Durner, Rudolph Triebel","doi":"10.1109/tro.2025.3577030","DOIUrl":"https://doi.org/10.1109/tro.2025.3577030","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"249 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144236858","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
Time, Travel, and Energy in the Uniform Dispersion Problem 均匀色散问题中的时间、行程和能量
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-06-06 DOI: 10.1109/tro.2025.3577409
Michael Amir, Alfred M. Bruckstein
{"title":"Time, Travel, and Energy in the Uniform Dispersion Problem","authors":"Michael Amir, Alfred M. Bruckstein","doi":"10.1109/tro.2025.3577409","DOIUrl":"https://doi.org/10.1109/tro.2025.3577409","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"7 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144236866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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
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