ICRA

BoxMap: Efficient Structural Mapping and Navigation

Zili Wang, Christopher Allum, Sean B. Andersson, Roberto Tron

Comments This manuscript has been submitted to IEEE ICRA 2025

Unifying Local and Global Multimodal Features for Place Recognition in Aliased and Low-Texture Environments

Alberto García-Hernández, Riccardo Giubilato, Klaus H. Strobl, Javier Civera, Rudolph Triebel

Comments Accepted submission to International Conference on Robotics and Automation (ICRA), 2024

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA)

Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station

Jonas Beuchert, Marco Camurri, Maurice Fallon

Comments 7 pages, 4 figures, accompanying video: https://youtu.be/55BLjt6ce1Y, accepted to the 2023 IEEE International Conference on Robotics and Automation (ICRA)

Multi-LED Classification as Pretext For Robot Heading Estimation

Nicholas Carlotti, Mirko Nava, Alessandro Giusti

Comments Accepted and presented at ICRA@40

Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis

Riana Gagnon Souleiman, Vivek Shankar Varadharajan, Giovanni Beltrame

Comments 7 pages, 8 figures, submitted to ICRA 2025

Single-Shot Learning of Stable Dynamical Systems for Long-Horizon Manipulation Tasks

Alexandre St-Aubin, Amin Abyaneh, Hsiu-Chin Lin

Comments 7 pages, submitted to ICRA 2025

Sampling-Based Model Predictive Control for Volumetric Ablation in Robotic Laser Surgery

Vincent Y. Wang, Ravi Prakash, Siobhan R. Oca, Ethan J. LoCicero, Patrick J. Codd, Leila J. Bridgeman

Comments 7 pages, 6 figures, submitted to IEEE ICRA 2025

NeRFoot: Robot-Footprint Estimation for Image-Based Visual Servoing

Daoxin Zhong, Luke Robinson, Daniele De Martini

Comments Accepted as extended abstract for ICRA@40

RecNet: An Invertible Point Cloud Encoding through Range Image Embeddings for Multi-Robot Map Sharing and Reconstruction

Nikolaos Stathoulopoulos, Mario A. V. Saucedo, Anton Koval, George Nikolakopoulos

Comments Accepted for publication in the 2024 IEEE International Conference on Robotics and Automation in Yokohama, (ICRA24)

Radar Meets Vision: Robustifying Monocular Metric Depth Prediction for Mobile Robotics

Marco Job, Thomas Stastny, Tim Kazik, Roland Siegwart, Michael Pantic

Comments Submitted to ICRA 2025

Can We Remove the Ground? Obstacle-aware Point Cloud Compression for Remote Object Detection

Pengxi Zeng, Alberto Presta, Jonah Reinis, Dinesh Bharadia, Hang Qiu, Pamela Cosman

Comments 7 Pages; submitted to ICRA 2025

CUREE: A Curious Underwater Robot for Ecosystem Exploration

Yogesh Girdhar, Nathan McGuire, Levi Cai, Stewart Jamieson, Seth McCammon, Brian Claus, John E. San Soucie, Jessica E. Todd, T. Aran Mooney

Comments 7 pages

Journal ref IEEE International Conference on Robotics and Automation (2023)

DynORecon: Dynamic Object Reconstruction for Navigation

Yiduo Wang, Jesse Morris, Lan Wu, Teresa Vidal-Calleja, Viorela Ila

Comments 7 pages, 6 figures, submitted to ICRA 2025

Generalizability of Graph Neural Networks for Decentralized Unlabeled Motion Planning

Shreyas Muthusamy, Damian Owerko, Charilaos I. Kanatsoulis, Saurav Agarwal, Alejandro Ribeiro

Comments 6 pages, 6 figures, submitted to ICRA 2025

GelSlim 4.0: Focusing on Touch and Reproducibility

Andrea Sipos, William van den Bogert, Nima Fazeli

Comments Submitted to ICRA 2025. For documentation, code, and data, please visit the project website: https://www.mmintlab.com/research/gelslim-4-0/

The Importance of Coordinate Frames in Dynamic SLAM

Jesse Morris, Yiduo Wang, Viorela Ila

Comments 7 pages, 4 figures, accepted by ICRA 2024

Detecting and Mitigating System-Level Anomalies of Vision-Based Controllers

Aryaman Gupta, Kaustav Chakraborty, Somil Bansal

Journal ref 2024/5/13 Conference 2024 IEEE International Conference on Robotics and Automation (ICRA) Pages 9953-9959 Publisher 2024 IEEE International Conference on Robotics and Automation (ICRA)

Progress Towards Submersible Microrobots: A Novel 13-mg Low-Power SMA-Based Actuator for Underwater Propulsion

Cody R. Longwell, Conor K. Trygstad, Francisco M. F. R. Goncalves, Ke Xu, Nestor O. Perez-Arancibia

Comments Presented at 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40)

VITaL Pretraining: Visuo-Tactile Pretraining for Tactile and Non-Tactile Manipulation Policies

Abraham George, Selam Gano, Pranav Katragadda, Amir Barati Farimani

Comments 7 pages, 6 figures, submitted to ICRA 2025. Prior version named "Visuo-Tactile Pretraining for Cable Plugging"

VLEIBot: A New 45-mg Swimming Microrobot Driven by a Bioinspired Anguilliform Propulsor

Elijah K. Blankenship, Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia

Comments 8 pages, 7 figures, to be presented at ICRA 2024

HARMONIC: A Framework for Explanatory Cognitive Robots

Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts, Christian Arndt

Comments Accepted for presentation at ICRA@40. 23-26 September 2024, Rotterdam, Netherlands

Joint Localization and Planning using Diffusion

L. Lao Beyer, S. Karaman

Comments 7 pages, 9 figures. Submitted to ICRA 2025, under review

OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Clouds

Bonan Liu, Guoyang Zhao, Jianhao Jiao, Guang Cai, Chengyang Li, Handi Yin, Yuyang Wang, Ming Liu, Pan Hui

Comments 2024 IEEE International Conference on Robotics and Automation (ICRA)

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA)

SliceIt! -- A Dual Simulator Framework for Learning Robot Food Slicing

Cristian C. Beltran-Hernandez, Nicolas Erbetti, Masashi Hamaya

Comments Accepted to ICRA 2024

Decentralized Nonlinear Model Predictive Control for Safe Collision Avoidance in Quadrotor Teams with Limited Detection Range

Manohari Goarin, Guanrui Li, Alessandro Saviolo, Giuseppe Loianno

Comments 7 pages, 5 figures, Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2025

PokeFlex: Towards a Real-World Dataset of Deformable Objects for Robotic Manipulation

Jan Obrist, Miguel Zamora, Hehui Zheng, Juan Zarate, Robert K. Katzschmann, Stelian Coros

Comments Extended Abstract, 40th Anniversary of the IEEE International Conference on Robotics and Automation. (ICRA@40 Rotterdam 2024)

OffRIPP: Offline RL-based Informative Path Planning

Srikar Babu Gadipudi, Srujan Deolasee, Siva Kailas, Wenhao Luo, Katia Sycara, Woojun Kim

Comments 7 pages, 6 figures, submitted to ICRA 2025

Multi-Camera Asynchronous Ball Localization and Trajectory Prediction with Factor Graphs and Human Poses

Qingyu Xiao, Zulfiqar Zaidi, Matthew Gombolay

Comments Accepted by ICRA 2024

Journal ref 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 2024, pp. 13695-13702

AnyCar to Anywhere: Learning Universal Dynamics Model for Agile and Adaptive Mobility

Wenli Xiao, Haoru Xue, Tony Tao, Dvij Kalaria, John M. Dolan, Guanya Shi

Comments Paper website: https://lecar-lab.github.io/anycar/. The first two authors have equal contribution. Under review at ICRA 2025

Mixing Data-driven and Geometric Models for Satellite Docking Port State Estimation using an RGB or Event Camera

Cedric Le Gentil, Jack Naylor, Nuwan Munasinghe, Jasprabhjit Mehami, Benny Dai, Mikhail Asavkin, Donald G. Dansereau, Teresa Vidal-Calleja

Comments Submitted to IEEE ICRA 2025