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IEEE Transactions on Robotics最新文献

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PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments PG-SLAM：动态环境中的照片真实感和几何感知RGB-D SLAM
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-10-07 DOI: 10.1109/tro.2025.3619073
Haoang Li, Xiangqi Meng, Xingxing Zuo, Zhe Liu, Hesheng Wang, Daniel Cremers
{"title":"PG-SLAM: Photo-realistic and Geometry-aware RGB-D SLAM in Dynamic Environments","authors":"Haoang Li, Xiangqi Meng, Xingxing Zuo, Zhe Liu, Hesheng Wang, Daniel Cremers","doi":"10.1109/tro.2025.3619073","DOIUrl":"https://doi.org/10.1109/tro.2025.3619073","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"84 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145241896","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
OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS OKVIS2-X：开放的基于关键帧的视觉惯性SLAM，可配置密集深度或激光雷达，以及GNSS
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-10-07 DOI: 10.1109/tro.2025.3619051
Simon Boche, Jaehyung Jung, Sebastian Barbas Laina, Stefan Leutenegger
{"title":"OKVIS2-X: Open Keyframe-based Visual-Inertial SLAM Configurable with Dense Depth or LiDAR, and GNSS","authors":"Simon Boche, Jaehyung Jung, Sebastian Barbas Laina, Stefan Leutenegger","doi":"10.1109/tro.2025.3619051","DOIUrl":"https://doi.org/10.1109/tro.2025.3619051","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"34 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145241902","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
Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation 不可抓握机器人重排操作的以物体为中心的运动学规划
IF 10.5 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/TRO.2025.3613532
Kejia Ren;Gaotian Wang;Andrew S. Morgan;Lydia E. Kavraki;Kaiyu Hang
{"title":"Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation","authors":"Kejia Ren;Gaotian Wang;Andrew S. Morgan;Lydia E. Kavraki;Kaiyu Hang","doi":"10.1109/TRO.2025.3613532","DOIUrl":"10.1109/TRO.2025.3613532","url":null,"abstract":"Nonprehensile actions, such as pushing, are crucial for addressing multiobject rearrangement problems. Many traditional methods generate <italic>robot-centric</i> actions, which differ from intuitive human strategies and are typically inefficient. To this end, we adopt an <italic>object-centric</i> planning paradigm and propose a unified framework for addressing a range of large-scale, physics-intensive nonprehensile rearrangement problems challenged by modeling inaccuracies and real-world uncertainties. By assuming that each object can actively move without being driven by robot interactions, our planner first computes desired object motions, which are then realized through robot actions generated online via a closed-loop pushing strategy. Through extensive experiments and in comparison with state-of-the-art baselines in both simulation and on a physical robot, we show that our <italic>object-centric</i> planning framework can generate more intuitive and task-effective robot actions with significantly improved efficiency. In addition, we propose a benchmarking protocol to standardize and facilitate future research in nonprehensile rearrangement.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5761-5780"},"PeriodicalIF":10.5,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127862","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
Online Multi-Robot Coordination and Cooperation With Task Precedence Relationships 基于任务优先关系的在线多机器人协调与合作
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613558
Walker Gosrich, Saurav Agarwal, Kashish Garg, Siddharth Mayya, Matthew Malencia, Mark Yim, Vijay Kumar
{"title":"Online Multi-Robot Coordination and Cooperation With Task Precedence Relationships","authors":"Walker Gosrich, Saurav Agarwal, Kashish Garg, Siddharth Mayya, Matthew Malencia, Mark Yim, Vijay Kumar","doi":"10.1109/tro.2025.3613558","DOIUrl":"https://doi.org/10.1109/tro.2025.3613558","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"86 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127823","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
GeoVINS: Geographic-Visual-Inertial Navigation System for Large-Scale Drift-Free Aerial State Estimation 用于大尺度无漂移航空状态估计的地理-视觉-惯性导航系统
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613467
Chunyu Li, Mengfan He, Chao Chen, Jiacheng Liu, Xu Lyu, Guoquan Huang, Ziyang Meng
{"title":"GeoVINS: Geographic-Visual-Inertial Navigation System for Large-Scale Drift-Free Aerial State Estimation","authors":"Chunyu Li, Mengfan He, Chao Chen, Jiacheng Liu, Xu Lyu, Guoquan Huang, Ziyang Meng","doi":"10.1109/tro.2025.3613467","DOIUrl":"https://doi.org/10.1109/tro.2025.3613467","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"2 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127826","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
VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes VINGS-Mono：大场景中视觉惯性高斯溅射单目SLAM
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613536
Ke Wu, Zicheng Zhang, Muer Tie, Ziqing Ai, Zhongxue Gan, Wenchao Ding
{"title":"VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes","authors":"Ke Wu, Zicheng Zhang, Muer Tie, Ziqing Ai, Zhongxue Gan, Wenchao Ding","doi":"10.1109/tro.2025.3613536","DOIUrl":"https://doi.org/10.1109/tro.2025.3613536","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"84 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127827","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
AUTO-IceNav: A Local Navigation Strategy for Autonomous Surface Ships in Broken Ice Fields AUTO-IceNav：破碎冰原中自主水面舰艇局部导航策略
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613472
Rodrigue de Schaetzen, Alexander Botros, Ninghan Zhong, Kevin Murrant, Robert Gash, Stephen L. Smith
{"title":"AUTO-IceNav: A Local Navigation Strategy for Autonomous Surface Ships in Broken Ice Fields","authors":"Rodrigue de Schaetzen, Alexander Botros, Ninghan Zhong, Kevin Murrant, Robert Gash, Stephen L. Smith","doi":"10.1109/tro.2025.3613472","DOIUrl":"https://doi.org/10.1109/tro.2025.3613472","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"34 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127819","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
Learning-Based Motion Planning Leveraging Multivariate Deep Evidential Regression 基于多元深度证据回归的基于学习的运动规划
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613568
Rixin Wang, Shuopeng Wang, Jintao Ye, Ying Zhang, Lina Hao
{"title":"Learning-Based Motion Planning Leveraging Multivariate Deep Evidential Regression","authors":"Rixin Wang, Shuopeng Wang, Jintao Ye, Ying Zhang, Lina Hao","doi":"10.1109/tro.2025.3613568","DOIUrl":"https://doi.org/10.1109/tro.2025.3613568","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"10 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127821","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
Efficient Decentralised Parallel Task Allocation for Multiple Robots 多机器人的高效分散并行任务分配
IF 7.8 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/tro.2025.3613566
Teng Li, Hyo-Sang Shin, Antonios Tsourdos
{"title":"Efficient Decentralised Parallel Task Allocation for Multiple Robots","authors":"Teng Li, Hyo-Sang Shin, Antonios Tsourdos","doi":"10.1109/tro.2025.3613566","DOIUrl":"https://doi.org/10.1109/tro.2025.3613566","url":null,"abstract":"","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"40 1","pages":""},"PeriodicalIF":7.8,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127824","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
Privacy-Preserving Robotic Perception for Object Detection in Curious Cloud Robotics 好奇云机器人中保护隐私的机器人感知目标检测
IF 10.5 1区 计算机科学
IEEE Transactions on Robotics Pub Date : 2025-09-23 DOI: 10.1109/TRO.2025.3613551
Michele Antonazzi;Matteo Alberti;Alex Bassot;Matteo Luperto;Nicola Basilico
{"title":"Privacy-Preserving Robotic Perception for Object Detection in Curious Cloud Robotics","authors":"Michele Antonazzi;Matteo Alberti;Alex Bassot;Matteo Luperto;Nicola Basilico","doi":"10.1109/TRO.2025.3613551","DOIUrl":"10.1109/TRO.2025.3613551","url":null,"abstract":"Cloud robotics allows low-power robots to perform computationally intensive inference tasks by offloading them to the cloud, raising privacy concerns when transmitting sensitive images. Although end-to-end encryption secures data in transit, it does not prevent misuse by inquisitive third-party services since data must be decrypted for processing. This article tackles these privacy issues in cloud-based object detection tasks for service robots. We propose a cotrained encoder-decoder architecture that retains only task-specific features while obfuscating sensitive information, utilizing a novel weak loss mechanism with proposal selection for privacy preservation. A theoretical analysis of the problem is provided, along with an evaluation of the tradeoff between detection accuracy and privacy preservation through extensive experiments on public datasets and a real robot.","PeriodicalId":50388,"journal":{"name":"IEEE Transactions on Robotics","volume":"41 ","pages":"5781-5799"},"PeriodicalIF":10.5,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145127828","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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