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IEEE Transactions on Robotics Publication Information
Year: 2022 | Volume: 38 | Issue: 6
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight
Publication Year: 2022,Page(s):3340 - 3356
Cited by: Papers (81)
In this article, we tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task—where a global time-optimal trajectory is generated—and a control task—where this trajectory is accurately tracked. However, at the current state, generating a time-optimal trajectory that considers the full quadrot...Show More
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
Sihao Sun;Angel Romero;Philipp Foehn;Elia Kaufmann;Davide Scaramuzza
Publication Year: 2022,Page(s):3357 - 3373
Cited by: Papers (102)
Accurate trajectory-tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints. In this article, we empirically compare two state-of-the-art control frameworks: the nonlinear-model-predictive controller (NMPC) and the differential-flatness...Show More
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms
Hao Xu;Yichen Zhang;Boyu Zhou;Luqi Wang;Xinjie Yao;Guotao Meng;Shaojie Shen
Publication Year: 2022,Page(s):3374 - 3394
Cited by: Papers (63)
Decentralized state estimation is one of the most fundamental components of autonomous aerial swarm systems in GPS-denied areas; yet, it remains a highly challenging research topic. Omni-swarm, a decentralized omnidirectional visual–inertial–ultrawideband (UWB) state estimation system for aerial swarms, is proposed in this article to address this research niche. To solve the issues of observabilit...Show More
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Fabian Jenelten;Ruben Grandia;Farbod Farshidian;Marco Hutter
Publication Year: 2022,Page(s):3395 - 3413
Cited by: Papers (36)
Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This article presents the complete control pipeline capable of handling the aforementioned problems in real-time. We formulate a trajectory optimization problem that jointly optimizes over the base pose and footholds, subject to a height map...Show More
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems
Fabian Jenelten;Ruben Grandia;Farbod Farshidian;Marco Hutter
Year: 2022 | Volume: 38 | Issue: 6
Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion
Publication Year: 2022,Page(s):3414 - 3433
Cited by: Papers (13)
This article presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions, the dynamic complementarity conditions. The approach does not require a predefined contact sequence and generates the footsteps automatically. We characteriz...Show More
RBO Hand 3: A Platform for Soft Dexterous Manipulation
Publication Year: 2022,Page(s):3434 - 3449
Cited by: Papers (52)
In this article, we present the RBO Hand 3, a highly capable and versatile anthropomorphic soft hand based on pneumatic actuation. The RBO Hand 3 is designed to enable dexterous manipulation, to facilitate transfer of insights about human dexterity, and to serve as a robust research platform for extensive real-world experiments. It achieves these design goals by combining many degrees of actuation...Show More
So-EAGlove: VR Haptic Glove Rendering Softness Sensation With Force-Tunable Electrostatic Adhesive Brakes
Quan Xiong;Xuanquan Liang;Daiyue Wei;Huacen Wang;Renjie Zhu;Ting Wang;Jianjun Mao;Hongqiang Wang
Publication Year: 2022,Page(s):3450 - 3462
Cited by: Papers (20)
Haptic gloves allow the players to feel the virtual world more realistically by providing force feedback. At present, haptic gloves are mainly driven by conventional motors, and for them, being lightweight, low cost, low in power consumption, and intrinsically safe to operators are challenging. Here, we designed a haptic glove (So-EAGlove) integrating a flexible electrostatic adhesive brake to res...Show More
Neural-Gas Network-Based Optimal Design Method for ERT-Based Whole-Body Robotic Skin
Publication Year: 2022,Page(s):3463 - 3478
Cited by: Papers (8)
Electrical resistance tomography (ERT) is an inferential imaging technique that has been utilized to develop large-scale robotic skin due to its scalable and practical properties. The performance of ERT-based sensors has been improved by optimizing the electrode arrangement, but it has relied on a heuristic design due to an absence of quantitative studies on the effects of the electrode arrangemen...Show More
Neural-Gas Network-Based Optimal Design Method for ERT-Based Whole-Body Robotic Skin
Year: 2022 | Volume: 38 | Issue: 6
Active Multiobject Exploration and Recognition via Tactile Whiskers
Publication Year: 2022,Page(s):3479 - 3497
Cited by: Papers (9)
Robotic exploration under uncertain environments is challenging when optical information is not available. In this article, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed a whisker sensor based on MEMS barometer devices. This sensor can acquire contact information by interacting with the environment nonintrusively. This sensor...Show More
Active Multiobject Exploration and Recognition via Tactile Whiskers
Year: 2022 | Volume: 38 | Issue: 6
Adaptive Constrained Kinematic Control Using Partial or Complete Task-Space Measurements
Publication Year: 2022,Page(s):3498 - 3513
Cited by: Papers (5)
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most of the current works assume that the robot kinematic model is precise enough for the task at hand. However, with increasing demands and safety requirements in robotic applications, there is a need for a controller that compensates online for ...Show More
Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance
Publication Year: 2022,Page(s):3514 - 3529
Cited by: Papers (30)
Robot-assisted thumb rehabilitation can improve the hand function of stroke patients because the thumb accounts for 40% of hand function. However, existing thumb rehabilitation robots are limited in terms of portability, comfort, adaptability, and independent joint actuation. This article proposes an untethered adaptive thumb exoskeleton that actively assists the 3-degree-of-freedom movements of t...Show More
Density Control of Large-Scale Particles Swarm Through PDE-Constrained Optimization
Publication Year: 2022,Page(s):3530 - 3549
Cited by: Papers (11)
In this article, we describe an optimal control strategy for shaping a large-scale swarm of particles using boundary global actuation. This problem arises as a key challenge in many swarm robotics applications, especially when the robots are passive particles that need to be guided by external control fields. The system is large-scale and underactuated, making the control strategy at the microscop...Show More
Byzantine Resilient Distributed Learning in Multirobot Systems
Publication Year: 2022,Page(s):3550 - 3563
Cited by: Papers (9)
Distributed machine learning algorithms are increasingly used in multirobot systems and are prone to Byzantine attacks. In this article, we consider a distributed implementation of the stochastic gradient descent (SGD) algorithm in a cooperative network, where networked agents optimize a global loss function using SGD on the local data and aggregation of the estimates of immediate neighbors. Byzan...Show More
Closed-Loop Motion Control of Robotic Swarms – A Tether-Based Strategy
Publication Year: 2022,Page(s):3564 - 3581
Cited by: Papers (4)
Swarm robots can achieve effective task execution via closed-loop motion control. However, such a goal can only be realized through accurate localization of the swarm. Past approaches have focused on addressing this issue using external sensors, static sensor networks, or through active localization—requirements that may restrict the motion of the swarm or may not be achievable in practice. We pre...Show More
Innate Motivation for Robot Swarms by Minimizing Surprise: From Simple Simulations to Real-World Experiments
Publication Year: 2022,Page(s):3582 - 3601
Cited by: Papers (7)
Applications of large-scale mobile multirobot systems can be beneficial over monolithic robots because of higher potential for robustness and scalability. Developing controllers for multirobot systems is challenging because the multitude of interactions is hard to anticipate and difficult to model. Automatic design using machine learning or evolutionary robotics seem to be options to avoid that ch...Show More
Temporal Logic Task Allocation in Heterogeneous Multirobot Systems
Publication Year: 2022,Page(s):3602 - 3621
Cited by: Papers (27)
We consider the problem of optimally allocating tasks, expressed as global linear temporal logic (LTL) specifications, to teams of heterogeneous mobile robots of different types. Each task may require robots of multiple types. To obtain a scalable solution, we propose a hierarchical approach that first allocates specific robots to tasks using the information about the tasks contained in the nondet...Show More
Temporal Logic Task Allocation in Heterogeneous Multirobot Systems
Year: 2022 | Volume: 38 | Issue: 6
Adaptive Multirobot Implicit Control of Heterogeneous Herds
Publication Year: 2022,Page(s):3622 - 3635
Cited by: Papers (8)
This article presents a novel control strategy to herd groups of noncooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strongly nonlinear and heterogeneous reactive dynamics, which makes the development of flexible control solutions a challenging problem. In this context, we propose Implicit Control, an approach that...Show More
Bidirectional Sampling-Based Motion Planning Without Two-Point Boundary Value Solution
Publication Year: 2022,Page(s):3636 - 3654
Cited by: Papers (7)
Bidirectional path and motion planning approaches decrease planning time, on average, compared to their unidirectional counterparts. In single-query feasible motion planning, using bidirectional search to find a continuous motion plan requires an edge connection between the forward search tree and the reverse search tree. Such a tree–tree connection requires solving a two-point boundary value prob...Show More
Adaptive Bézier Degree Reduction and Splitting for Computationally Efficient Motion Planning
Publication Year: 2022,Page(s):3655 - 3674
Cited by: Papers (3)
As a parametric polynomial curve family, Bézier curves are widely used in safe and smooth motion design of intelligent robotic systems from flying drones to autonomous vehicles to robotic manipulators. In such motion planning settings, the critical features of high-order Bézier curves such as curve length, distance-to-collision, maximum curvature/velocity/acceleration are either numerically comput...Show More
Energy Autonomy for Robot Systems With Constrained Resources
Publication Year: 2022,Page(s):3675 - 3693
Cited by: Papers (3)
One of the key factors for extended autonomy and resilience of battery-powered multirobot systems is their ability to maintain energy sufficiency by recharging when needed. In situations with limited access to charging facilities, robots need to be able to share and coordinate recharging activities, with guarantees that no robot will run out of energy. In this work, we present an approach based on...Show More
Autonomous Navigation in Unknown Environments With Sparse Bayesian Kernel-Based Occupancy Mapping
Publication Year: 2022,Page(s):3694 - 3712
Cited by: Papers (5)
This article focuses on online occupancy mapping and real-time collision checking onboard an autonomous robot navigating in a large unknown environment. Commonly used voxel and octree map representations can be easily maintained in a small environment but have increasing memory requirements as the environment grows. We propose a fundamentally different approach for occupancy mapping, in which the ...Show More
Directional Sensor Planning for Occlusion Avoidance
Jake Gemerek;Bo Fu;Yucheng Chen;Zeyu Liu;Min Zheng;David van Wijk;Silvia Ferrari
Publication Year: 2022,Page(s):3713 - 3733
Cited by: Papers (5)
Directional sensors, such as video cameras, have become ubiquitous to many autonomous robots applications, such as monitoring and surveillance. The performance of these sensors and processing algorithms, however, may be hindered by the presence of objects that block visibility. This article presents a novel approach for planning the path of a mobile directional sensor deployed to observe multiple ...Show More
Directional Sensor Planning for Occlusion Avoidance
Jake Gemerek;Bo Fu;Yucheng Chen;Zeyu Liu;Min Zheng;David van Wijk;Silvia Ferrari
Year: 2022 | Volume: 38 | Issue: 6
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems
Jiajun Lv;Xingxing Zuo;Kewei Hu;Jinhong Xu;Guoquan Huang;Yong Liu
Publication Year: 2022,Page(s):3734 - 3753
Cited by: Papers (38)
Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this article, we propose a novel LiDAR-IMU calibration method within the continuous-time batch-optimization framework, where the intrinsics of both sensors and the spatial-temporal extrinsics between sensors are calibrated without using calibration ...Show More
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Editor-in-Chief
Wolfram Burgard
University of Technology Nuremberg
Nuremberg
Germany
ieee.tro.eic@gmail.comContact Information
Editor-in-Chief
Wolfram Burgard
University of Technology Nuremberg
Nuremberg
Germany
ieee.tro.eic@gmail.comIEEE Account
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