IEEE Transactions on Robotics

Article	Citations
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM	1404
TEASER: Fast and Certifiable Point Cloud Registration	306
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry	296
Past, Present, and Future of Aerial Robotic Manipulators	165
A Review of Tactile Information: Perception and Action Through Touch	125
GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation	122
TossingBot: Learning to Throw Arbitrary Objects With Residual Physics	118
RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight	115
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners	105
Data-Driven Control of Soft Robots Using Koopman Operator Theory	94
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks	93
Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators	92
Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges	89
Event-Based Stereo Visual Odometry	88
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds	83
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following	81
Convergent Multiagent Formation Control With Collision Avoidance	80
PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking	79
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments	78
Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach	78
Geometrically Constrained Trajectory Optimization for Multicopters	76
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments	76
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle	75
Object Handovers: A Review for Robotics	74
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction	74

LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM	73
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains	73
Long-Range Indoor Navigation With PRM-RL	69
Direct Sparse Mapping	67
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control	67
Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory	66
Soft Robots Modeling: A Structured Overview	64
Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem	63
An Iterative Approach for Accurate Dynamic Model Identification of Industrial Robots	61
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems	60
Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures	59
Definition and Application of Variable Resistance Coefficient for Wheeled Mobile Robots on Deformable Terrain	58
Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot–Human Communication	58
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight	56
Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors	56
An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation	54
MADER: Trajectory Planner in Multiagent and Dynamic Environments	54
DefSLAM: Tracking and Mapping of Deforming Scenes From Monocular Sequences	53
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand	53
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios	52
Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration	51
A Decentralized Cluster Formation Containment Framework for Multirobot Systems	51
Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion	51
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility	51
MPC for Humanoid Gait Generation: Stability and Feasibility	51
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications	50
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems	49
A Grasping-Centered Analysis for Cloth Manipulation	49
Towards Generalization in Target-Driven Visual Navigation by Using Deep Reinforcement Learning	48
Flow: A Modular Learning Framework for Mixed Autonomy Traffic	48
A Survey on Swarm Microrobotics	48
Distributed Control for Cooperative Manipulation With Event-Triggered Communication	47
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning	47
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators	46
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications	46
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight	46
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments	45
Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators	44
Unseen Object Instance Segmentation for Robotic Environments	44
Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction	44
Shape Formation in Homogeneous Swarms Using Local Task Swapping	44
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers	43
Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications	43
Self-Supervised Visual Terrain Classification From Unsupervised Acoustic Feature Learning	43
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach	43
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction	42
ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry	42
In Vitro Design Investigation of a Rotating Helical Magnetic Swimmer for Combined 3-D Navigation and Blood Clot Removal	42
Multirobot Coordination With Counting Temporal Logics	41
Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud	40

Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization	40
Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization	40
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation	40
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing	39
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors	39
Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation	38
Deep Neural Network Based Electrical Impedance Tomographic Sensing Methodology for Large-Area Robotic Tactile Sensing	38
Kinematics of Soft Robots by Geometric Computing	37
RBO Hand 3: A Platform for Soft Dexterous Manipulation	37
EfficientLPS: Efficient LiDAR Panoptic Segmentation	37
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control	36
Walking Control Based on Step Timing Adaptation	36
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine	36
A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method	35
Good Feature Matching: Toward Accurate, Robust VO/VSLAM With Low Latency	35
A Dynamic Model for Concentric Tube Robots	35
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping	35
Singularity-Free Guiding Vector Field for Robot Navigation	34
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control	33
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies	33
MiniNet: An Efficient Semantic Segmentation ConvNet for Real-Time Robotic Applications	33
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost	32
Distributed Certifiably Correct Pose-Graph Optimization	32
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System	32
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms	32
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery	32
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes	31
Uncertainty Estimation for Data-Driven Visual Odometry	31
A Hierarchical Architecture for Human–Robot Cooperation Processes	31
Policy Search for Model Predictive Control With Application to Agile Drone Flight	31
A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots	31
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth	31
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots	30
Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms	30
An Online Initialization and Self-Calibration Method for Stereo Visual-Inertial Odometry	30
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion	30
Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis	30
A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths	30
Teleoperation of Humanoid Robots: A Survey	30
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions	30
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics	29
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control	29
Flat Inflatable Artificial Muscles With Large Stroke and Adjustable Force– Length Relations	29
Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration	28
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications	28
Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot	28
Toward Orientation Learning and Adaptation in Cartesian Space	27
Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation	27
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery	27
Partially Observable Markov Decision Processes in Robotics: A Survey	27
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control	27
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments	26
Crabbot: A Pole-Climbing Robot Driven by Piezoelectric Stack	26
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems	26
Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization	26
Deep Learning Approaches to Grasp Synthesis: A Review	26
Artificial Perception and Semiautonomous Control in Myoelectric Hand Prostheses Increases Performance and Decreases Effort	25
Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots	25
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints	25
Mobile Microrobots for In Vitro Biomedical Applications: A Survey	25
Modeling Electromagnetic Navigation Systems	25
Powered Knee and Ankle Prosthesis With Adaptive Control Enables Climbing Stairs With Different Stair Heights, Cadences, and Gait Patterns	25
Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger	25
Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks	25
Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem	25
An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis	24
Feasible Region: An Actuation-Aware Extension of the Support Region	24
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance	24
Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions	24
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization	24
On Closed-Form Formulas for the 3-D Nearest Rotation Matrix Problem	24
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration	24
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios	24
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback	23
Learning for Attitude Holding of a Robotic Fish: An End-to-End Approach With Sim-to-Real Transfer	23
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation	23
Design, Development, and Control of a Hand/Wrist Exoskeleton for Rehabilitation and Training	23
Cramér–Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM	23
Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments	23
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM	23

Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance	23
Optimal UAV Route Planning for Persistent Monitoring Missions	23
Dynamic Modeling and Control of Deformable Linear Objects for Single-Arm and Dual-Arm Robot Manipulations	23
Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit	22
Learning to Play Table Tennis From Scratch Using Muscular Robots	22
Force from Shape—Estimating the Location and Magnitude of the External Force on Flexible Instruments	22
Model-Based Design of a Soft 3-D Haptic Shape Display	21
Random-Finite-Set-Based Distributed Multirobot SLAM	21
Multirobot Collaborative Monocular SLAM Utilizing Rendezvous	21
Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-Guided Robotic Platform—Validation With Pulmonary Vein Isolation Simulator in MRI	21
Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs	21
Elongatable Gripper Fingers With Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation	21
Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents	21
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications	21
Single Master Bimanual Teleoperation System With Efficient Regulation	21
Feedback Altitude Control of a Flying Insect–Computer Hybrid Robot	20
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation	20
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments	20
Energy-Efficient Path Planning of Reconfigurable Robots in Complex Environments	20
Perceptive Locomotion Through Nonlinear Model-Predictive Control	20
Morphing Origami Block for Lightweight Reconfigurable System	20
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems	20
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies	20
HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler	20
Autonomous Cave Surveying With an Aerial Robot	20
Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance	20
Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM	20
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems	20
A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration	20
Energy Regeneration From Electromagnetic Induction by Human Dynamics for Lower Extremity Robotic Prostheses	19
Static Workspace Optimization of Aerial Cable Towed Robots With Land-Fixed Winches	19
Singularity Conditions for Continuum Parallel Robots	19
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking	19
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra	19
Probabilistic Modeling and Bayesian Filtering for Improved State Estimation for Soft Robots	19
An Evolutionary-Optimized Surgical Path Planner for a Programmable Bevel-Tip Needle	19
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry With Full Self-Calibration	19
A Novel Radar Point Cloud Generation Method for Robot Environment Perception	19
Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach	18
Following Leaders in Byzantine Multirobot Systems by Using Blockchain Technology	18
Automated Routing of Muscle Fibers for Soft Robots	18
Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk	18
Shoulder-sideWINDER (Shoulder-side Wearable INDustrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment	18
Stochastic Dynamic Games in Belief Space	18
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots	18
A Motion Planning Approach for Nonprehensile Manipulation and Locomotion Tasks of a Legged Robot	18
Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators	18
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms Using Learned Interactions	18
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands	18
Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks	18
Quantifying Hypothesis Space Misspecification in Learning From Human–Robot Demonstrations and Physical Corrections	18
ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings	18
Kalman-Filter-Based, Dynamic 3-D Shape Reconstruction for Steerable Needles With Fiber Bragg Gratings in Multicore Fibers	17
Constructive Time-Varying Vector Fields for Robot Navigation	17
Adaptive Feet for Quadrupedal Walkers	17
Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements	17
Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization	17
SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric	17
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation	17
Achieving Versatile Energy Efficiency With the WANDERER Biped Robot	17
Analysis and Synthesis of Underactuated Compliant Mechanisms Based on Transmission Properties of Motion and Force	17
Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme	17
Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking	17
Safe Active Dynamics Learning and Control: A Sequential Exploration–Exploitation Framework	17
Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet	17
Toward a Unified Approximate Analytical Representation for Spatially Running Spring-Loaded Inverted Pendulum Model	17
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning	16
View Path Planning via Online Multiview Stereo for 3-D Modeling of Large-Scale Structures	16
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)	16
Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields	16
Analysis of Coupling Effect in Human-Commanded Stiffness During Bilateral Tele-Impedance	16
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency	16
Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening	16
Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection	16
A Two-Stage Optimization-Based Motion Planner for Safe Urban Driving	16
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails	16
Controlled Noncontact Manipulation of Nonmagnetic Untethered Microbeads Orbiting Two-Tailed Soft Microrobot	16
Bio-Inspired Rapid Escape and Tight Body Flip on an At-Scale Flapping Wing Hummingbird Robot Via Reinforcement Learning	16
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation	15
Kinodynamic Model Identification: A Unified Geometric Approach	15
Line Flow Based Simultaneous Localization and Mapping	15
Perception-Based Temporal Logic Planning in Uncertain Semantic Maps	15
Workspace-Based Model Predictive Control for Cable-Driven Robots	15
Fast UAV Trajectory Optimization Using Bilevel Optimization With Analytical Gradients	15
A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction	15
Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations	15
Dynamic Resilient Containment Control in Multirobot Systems	14
Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization	14
A Secure Robot Learning Framework for Cyber Attack Scheduling and Countermeasure	14
A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units	14
Design of a New Bio-Inspired Dual-Axis Compliant Micromanipulator With Millimeter Strokes	14
Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles	14
Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements	14
Shake and Take: Fast Transformation of an Origami Gripper	14
Kinematic Modeling and Characterization of Soft Parallel Robots	14