ICRA

ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk

Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin

Comments 7 pages, 10 figures

Journal ref 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 31 - June 4, 2021, Xi'an, China, pp. 3040-3046

Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk

Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin

Comments 7 pages, 6 figures

Journal ref 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), May 31 - June 4, 2021, Xi'an, China, pp. 3047 - 3053

Deformable Tip Mount for Soft Growing Eversion Robots

Cem Suulker, Sophie Skach, Danyaal Kaleel, Taqi Abrar, Zain Murtaza, Dilara Suulker, Kaspar Althoefer

Journal ref 2023 IEEE International Conference on Robotics and Automation (ICRA) MW02: Soft Growing Robots Workshop

A real-time dynamic obstacle tracking and mapping system for UAV navigation and collision avoidance with an RGB-D camera

Zhefan Xu, Xiaoyang Zhan, Baihan Chen, Yumeng Xiu, Chenhao Yang, Kenji Shimada

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

Vision-aided UAV navigation and dynamic obstacle avoidance using gradient-based B-spline trajectory optimization

Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan, Baihan Chen, Kenji Shimada

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

Multi-Profile Quadratic Programming (MPQP) for Optimal Gap Selection and Speed Planning of Autonomous Driving

Alexandre Miranda Anon, Sangjae Bae, Manish Saroya, David Isele

Comments Submitted to ICRA 2024

A Reachability Tree-Based Algorithm for Robot Task and Motion Planning

Kanghyun Kim, Daehyung Park, Min Jun Kim

Comments IEEE International Conference on Robotics and Automation (ICRA) 2023

PCMPC: Perception-Constrained Model Predictive Control for Quadrotors with Suspended Loads using a Single Camera and IMU

Guanrui Li, Alex Tunchez, Giuseppe Loianno

Comments This paper has been published at the 2021 IEEE International Conference on Robotics and Automation. Please cite this paper with the standard IEEE Conference format. We will provide the detail of the DOI information later once the Proceedings has come out

Journal ref IEEE International Conference on Robotics and Automation (ICRA), 2021

Iterative PnP and its application in 3D-2D vascular image registration for robot navigation

Jingwei Song, Keke Yang, Zheng Zhang, Meng Li, Tuoyu Cao, Maani Ghaffari

Comments Submitted to ICRA 2024 Errors in Eq. 4 and Eq. 6 have been corrected. Updates include some minor improvements in Section II

Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators

Jinyeong Jeong, Min Jun Kim

Comments IEEE International Conference on Robotics and Automation (ICRA) 2023

Learning Model Predictive Control for Quadrotors

Guanrui Li, Alex Tunchez, Giuseppe Loianno

Comments Guanrui Li and Alex Tunchez contributed equally to this paper. This paper has been accepted to the 2022 IEEE International Conference on Robotics and Automation. Please cite this paper with the standard IEEE Conference format. Link to the Video: https://youtu.be/-5cIsIM5G7M

Journal ref International Conference on Robotics and Automation (ICRA), 2022

Autonomous robotic re-alignment for face-to-face underwater human-robot interaction

Demetrious T. Kutzke, Ashwin Wariar, Junaed Sattar

Comments Submitted to the Proceedings of the 2024 IEEE Conference on Robotics & Automation (ICRA)

Adaptive Sampling-based Particle Filter for Visual-inertial Gimbal in the Wild

Xueyang Kang, Ariel Herrera, Henry Lema, Esteban Valencia, Patrick Vandewalle

Comments content in 6 pages, 9 figures, 2 pseudo codes, one table, accepted by ICRA 2023

Sample-efficient Reinforcement Learning in Robotic Table Tennis

Jonas Tebbe, Lukas Krauch, Yapeng Gao, Andreas Zell

Comments accepted at ICRA 2021 (Xian, China)

Context-aware robot control using gesture episodes

Petr Vanc, Jan Kristof Behrens, Karla Stepanova

Comments 7 pages, 8 figures, accepted for ICRA 2023

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

Comments 28 pages. A smaller version of this paper is accepted to ICRA 2023

Neural Grasp Distance Fields for Robot Manipulation

Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam

Comments Accepted to ICRA 2023

DexDLO: Learning Goal-Conditioned Dexterous Policy for Dynamic Manipulation of Deformable Linear Objects

Sun Zhaole, Jihong Zhu, Robert B. Fisher

Comments 7 pages, 8 figures, submitted to ICRA 2024

Frontier Semantic Exploration for Visual Target Navigation

Bangguo Yu, Hamidreza Kasaei, Ming Cao

Comments 7 pages

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

A Lightweight, High-Extension, Planar 3-Degree-of-Freedom Manipulator Using Pinched Bistable Tapes

O. Godson Osele, Allison M. Okamura, Brian H. Do

Comments ICRA 2022

Improving the Generalizability of Trajectory Prediction Models with Frenet-Based Domain Normalization

Luyao Ye, Zikang Zhou, Jianping Wang

Comments This paper was published in 2023 IEEE International Conference on Robotics and Automation (ICRA). New version updated with links to the source code of the Frenet+ strategy

PixSelect: Less but Reliable Pixels for Accurate and Efficient Localization

Mohammad Altillawi

Journal ref IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022. Philadelphia, PA, USA, p 4156-4162

Covariance Steering for Uncertain Contact-rich Systems

Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan

Comments Accepted to the 2023 International Conference on Robotics and Automation (ICRA2023)

A Data-efficient Framework for Robotics Large-scale LiDAR Scene Parsing

Kangcheng Liu

Comments International Conference on Robotics and Automation (ICRA) 2022, 6 Figures. arXiv admin note: substantial text overlap with arXiv:2312.01262

Using human and robot synthetic data for training smart hand tools

Jose Bendana, Sundar Sripada V. S., Carlos D. Salazar, Sandeep Chinchali, Raul G. Longoria

Comments In submission at ICRA 2024; added acknowledgements

How to Train Your Neural Control Barrier Function: Learning Safety Filters for Complex Input-Constrained Systems

Oswin So, Zachary Serlin, Makai Mann, Jake Gonzales, Kwesi Rutledge, Nicholas Roy, Chuchu Fan

Comments Submitted to ICRA 2024. Project page can be found at https://mit-realm.github.io/pncbf

STREAM: Software Tool for Routing Efficiently Advanced Macrofluidics

Lehong Wang, Savita V. Kendre, Haotian Liu, Markus P. Nemitz

Comments 6 pages, 6 figures, ICRA 2024

Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification

Brady Moon, Sagar Sachdev, Junbin Yuan, Sebastian Scherer

Comments Accepted to IEEE Robotics and Automation Letters (RA-L) and ICRA 2024

TRC: Trust Region Conditional Value at Risk for Safe Reinforcement Learning

Dohyeong Kim, Songhwai Oh

Comments RA-L and ICRA 2022

Journal ref IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2621-2628, April 2022

ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control

Arun L. Bishop, John Z. Zhang, Swaminathan Gurumurthy, Kevin Tracy, Zachary Manchester

Comments submitted to ICRA 2024