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IEEE Robotics and Automation Society Information
Year: 2025 | Volume: 10 | Issue: 3
Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structures
Guoliang You;Xiaomeng Chu;Yifan Duan;Wenyu Zhang;Xingchen Li;Sha Zhang;Yao Li;Jianmin Ji;Yanyong Zhang
Publication Year: 2025,Page(s):2104 - 2111
When planning for autonomous driving, it is crucial to consider essential traffic elements such as lanes, intersections, traffic regulations, and dynamic agents. However, they are often overlooked by the traditional end-to-end planning methods, likely leading to inefficiencies and non-compliance with traffic regulations. In this work, we endeavor to integrate the perception of these elements into ...Show More
Multi-Task Reinforcement Learning for Quadrotors
Jiaxu Xing;Ismail Geles;Yunlong Song;Elie Aljalbout;Davide Scaramuzza
Publication Year: 2025,Page(s):2112 - 2119
Reinforcement learning (RL) has shown great effectiveness in quadrotor control, enabling specialized policies to develop even human-champion-level performance in single-task scenarios. However, these specialized policies often struggle with novel tasks, requiring a complete retraining of the policy from scratch. To address this limitation, this paper presents a novel multi-task reinforcement learn...Show More
Multi-Task Reinforcement Learning for Quadrotors
Jiaxu Xing;Ismail Geles;Yunlong Song;Elie Aljalbout;Davide Scaramuzza
Year: 2025 | Volume: 10 | Issue: 3
Controlling Pneumatic Bending Actuator With Gain-Scheduled Feedforward and Physical Reservoir Computing State Estimation
Publication Year: 2025,Page(s):2120 - 2127
Hysteresis brings challenges to both the control and state perception of soft robots. This work proposes a real-time gain-scheduled feedforward proportional controller design and a Physical Reservoir Computing (PRC) model to address hysteresis effects in the motion control and unobstructed state estimation of a dual pneumatic artificial muscle (PAM) soft bending actuator. The dual-PAM soft actuato...Show More
Design and Analysis of a Hybrid Actuator With Resilient Origami-Inspired Hinges
Publication Year: 2025,Page(s):2128 - 2135
This letter presents a novel cable-driven hybrid origami-inspired actuator with load-bearing capability. In contrast to conventional origami, the hybrid origami layer of the actuator is characterized by resilient hinges and rigid facets. The layers are bonded and assembled with the motors that apply tension via wires to generate a motion. The actuator exhibits high blocking force performance while...Show More
Empirically Compensated Setpoint Tracking for Spherical Robots With Pressurized Soft-Shells
Derek J. Pravecek;Micah J. Oevermann;Gray C. Thomas;Robert O. Ambrose
Publication Year: 2025,Page(s):2136 - 2143
Replacing spherical robots' hard shells with soft, pressurized tires has the potential to improve their off-road practicality immensely. This change leverages spherical robots as a simple and rugged solution to problems currently addressed using wheeled or tracked vehicles. Though numerous prototypes have been launched over the last three decades, there has not been a spherical robot that poses a ...Show More
Bayesian NeRF: Quantifying Uncertainty With Volume Density for Neural Implicit Fields
Publication Year: 2025,Page(s):2144 - 2151
We present a Bayesian Neural Radiance Field (NeRF), which explicitly quantifies uncertainty in the volume density by modeling uncertainty in the occupancy, without the need for additional networks, making it particularly suited for challenging observations and uncontrolled image environments. NeRF diverges from traditional geometric methods by providing an enriched scene representation, rendering ...Show More
A Deep Reinforcement Learning Method for Collision Avoidance with Dense Speed-Constrained Multi-UAV
Publication Year: 2025,Page(s):2152 - 2159
This letter introduces a novel deep reinforcement learning (DRL) method for collision avoidance problem of fixed-wing unmanned aerial vehicles (UAVs). First, with considering the characteristics of collision avoidance problem, a collision prediction method is proposed to identify the neighboring UAVs with a significant threat. A convolutional neural network model is devised to extract the dynamic ...Show More
Real-Time Sit-to-Stand Phase Classification With a Mobile Assistive Robot From Close Proximity Utilizing 3D Visual Skeleton Recognition
Anas Mahdi;Zonghao Dong;Jonathan Feng-Shun Lin;Yue Hu;Yasuhisa Hirata;Katja Mombaur
Publication Year: 2025,Page(s):2160 - 2167
Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults' daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive devices. Robotics rollators are being developed to provide active mobility assistance to older adul...Show More
Radar SLAM is robust in challenging conditions, such as fog, dust, and smoke, but suffers from the sparsity and noisiness of radar sensing, including speckle noise and multipath effects. This study provides a performance-enhanced radar SLAM system by incorporating point uncertainty. The basic system is a radar-inertial odometry system that leverages velocity-aided radar points and high-frequency i...Show More
sEMG-Based Joint Angle Estimation via Hierarchical Spiking Attentional Feature Decomposition Network
Publication Year: 2025,Page(s):2176 - 2183
Surface electromyography (sEMG) has demonstrated significant potential in simultaneous and proportional control (SPC). However, existing algorithms for predicting joint angles based on sEMG often suffer from high inference costs or are limited to specific subjects rather than multi-subject scenarios. To address these challenges, we introduced a hierarchical Spiking Attentional Feature Decompositio...Show More
Dual Attention-Aided Cooperative Deep-Spatiotemporal-Feature-Extraction Network for Semi-Supervised Soft Sensing
XuDong Shi;Qi Kang;MengChu Zhou;HanQiu Bao;Jing An;Abdullah Abusorrah;KeFan Wang;Yusuf Al-Turki
Publication Year: 2025,Page(s):2184 - 2190
Soft sensing is a promising solution to predict key quality variables in various industries. One of the major obstacles to building an accurate data-driven soft sensor is the scarcity of labeled data and the challenge of extracting useful information from unlabeled data. To mitigate this issue, this work proposes a semi-supervised soft sensing method called dual attention-aided cooperative deep sp...Show More
The Persistent Robot Charging Problem for Long-Duration Autonomy
Nitesh Kumar;Jaekyung Jackie Lee;Sivakumar Rathinam;Swaroop Darbha;P. B. Sujit;Rajiv Raman
Publication Year: 2025,Page(s):2191 - 2198
This paper introduces a novel formulation for finding the recharging schedule for a fleet of $n$ heterogeneous robots that minimizes utilization of recharging resources. This study provides a foundational framework applicable to Multi-Robot Mission Planning, particularly in scenarios demanding Long-Duration Autonomy (LDA) or other contexts that necessitate periodic recharging of multiple robots. A...Show More
Safe Motion Planning for Multi-Vehicle Autonomous Driving in Uncertain Environment
Publication Year: 2025,Page(s):2199 - 2206
In the field of motion planning for autonomous driving systems, ensuring the safety of multi-vehicle navigation is one of the crucial topics. An unavoidable problem in practice is that the noise-induced uncertainties in real-world applications highly degrade the safety of multi-vehicle navigation. It is also challenging to guarantee the required computation efficiency of motion planning algorithms...Show More
Multi-View Spatial Context and State Constraints for Object-Goal Navigation
Publication Year: 2025,Page(s):2207 - 2214
Object-goal navigation is a highly challenging task where an agent must navigate to a target solely based on visual observations. Current reinforcement learning-based methods for object-goal navigation face two major challenges: first, the agent lacks sufficient perception of environmental context information, resulting in an absence of rich visual representations; second, in complex environments ...Show More
Human-Robot Collaborative Tele-Grasping in Clutter With Five-Fingered Robotic Hands
Yayu Huang;Dongxuan Fan;Dashun Yan;Wen Qi;Guoqiang Deng;Zhihao Shao;Yongkang Luo;Daheng Li;Zhenghan Wang;Qian Liu;Peng Wang
Publication Year: 2025,Page(s):2215 - 2222
Teleoperation offers the possibility of enabling robots to replace humans in operating within hazardous environments. While it provides greater adaptability to unstructured settings than full autonomy, it also imposes significant burdens on human operators, leading to operational errors. To address this challenge, shared control, a key aspect of human-robot collaboration methods, has emerged as a ...Show More
Cross-Scenario End-to-End Motion Planning in Off-Road Environment: A Lifelong Learning Perspective
Yuchun Wang;Cheng Gong;Jianwei Gong;Zirui Li;Zheng Zang;Peng Jia
Publication Year: 2025,Page(s):2223 - 2230
Motion planning in off-road scenarios is particularly challenging due to diverse terrain features, surface characteristics, and environmental factors. Consequently, rule-based or fixed-parameter motion planning methods often fail to maintain optimal performance, especially in cross-scenario applications. To address these issues, we propose an innovative method for end-to-end motion planning in off...Show More
Usability Questionnaire for Robotic Systems Based on the ISO 9241–110
Publication Year: 2025,Page(s):2231 - 2238
This letter presents the validation of a usability questionnaire tailored specifically to robotic systems, based on the ISO 9241–110 standard. The use of robotic systems in the workplace is becoming increasingly common. Hence, humans and robots interact more frequent. The quality of these interactions is significantly influenced by the robot's usability. The ISO 9241–110:2020 presents seven intera...Show More
Usability Questionnaire for Robotic Systems Based on the ISO 9241–110
Year: 2025 | Volume: 10 | Issue: 3
MVINS: A Magnetism&vision Aided Inertial Navigation System for Autonomous Underwater Vehicles
Bingbing Zhang;Shuo Liu;Daxiong Ji;Tao Wang;Shanmin Zhou;Zhengfei Wang;Xiaokang Qi;Wen Xu
Publication Year: 2025,Page(s):2239 - 2246
We present a robust underwater navigation system that integrates magnetic, visual, and inertial measurements from commercial off-the-shelf sensors. Visual Inertial Navigation Systems (VINS) face challenges when used for Autonomous Underwater Vehicle (AUV) localization in perceptually degraded environments. First, traditional VINS methods struggle to accurately detect sufficient loops due to severa...Show More
Tube RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments
Publication Year: 2025,Page(s):2247 - 2254
Recently, the concept of homotopic trajectory planning has emerged as a novel solution to navigation in large-scale obstacle environments for swarm robotics, offering a wide range of applications. However, it lacks an efficient homotopic path planning method in large-scale obstacle environments. This letter introduces Tube RRT*, an innovative homotopic path planning method that builds upon and imp...Show More
A Personalized Comfort Space With Variable Shape Based on Environmental Information for Robot Navigation in Homes
Publication Year: 2025,Page(s):2255 - 2262
When a robot navigates in home environments, its trajectories need not only to avoid collisions but also to meet the psychological comfort of family members. We propose a personalized comfort space with variable shape based on environmental information to enhance the comfort perception of different family members and ensure efficient navigation. Our method considers the different psychological dem...Show More
Addressing Reachability and Discrete Component Selection in Robotic Manipulator Design Through Kineto-Static Bi-Level Optimization
E. Mingo Hoffman;D. Costanzi;G. Fadini;N. Miguel;A. Del Prete;L. Marchionni
Publication Year: 2025,Page(s):2263 - 2270
Designing robotic manipulators for generic tasks while meeting specific requirements is a complex, iterative process involving mechanical design, simulation, control, and testing. New computational design tools are needed to simplify and speed up such processes. This work presents an original formulation of the computational design problem, tailored to help design generic manipulators with strong ...Show More
A Variable Stiffness Fin for Manta Ray-Inspired Robots With Two Motion Modals
Publication Year: 2025,Page(s):2271 - 2278
Manta ray-inspired robots exhibit broad application prospects. In nature, different manta rays possess different stiffness of pectoral fins to survive in specific environment. Some rays present stiffer fins that enable an oscillation, achieving large propulsion to adapt to a pelagic lifestyle. While some rays exhibit softer fins that produce a wave-like undulation, enhancing motion efficiency to s...Show More
Efficient Fabrication of High-Aspect-Ratio Stepped-End Microneedles via Vision-Guided Assembly for Flexible Microelectrode Implantation
Publication Year: 2025,Page(s):2279 - 2286
This paper presents an automated assembly method for the efficient and cost-effective fabrication of high-aspect-ratio stepped-end (HARSE) microneedles for flexible neural microelectrode implantation. The core process is a novel variable stiffness insertion (VSI) method, employing a vision-guided system to assemble commercially available tungsten wires and stainless steel tubes with microscale dia...Show More
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