IEEE Transactions on Robotics

Article	Citations
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM	1317
TEASER: Fast and Certifiable Point Cloud Registration	293
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry	267
Past, Present, and Future of Aerial Robotic Manipulators	152
A Review of Tactile Information: Perception and Action Through Touch	121
TossingBot: Learning to Throw Arbitrary Objects With Residual Physics	117
GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation	113
RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight	105
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners	103
Data-Driven Control of Soft Robots Using Koopman Operator Theory	93
Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators	91
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks	89
A Holistic Visual Place Recognition Approach Using Lightweight CNNs for Significant ViewPoint and Appearance Changes	86
Event-Based Stereo Visual Odometry	83
Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges	83
Convergent Multiagent Formation Control With Collision Avoidance	80
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds	80
PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking	79
Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach	77
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following	76
A Survey on Policy Search Algorithms for Learning Robot Controllers in a Handful of Trials	76
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments	75
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle	73
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains	73
Object Handovers: A Review for Robotics	72

Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments	72
Geometrically Constrained Trajectory Optimization for Multicopters	71
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction	71
TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower	70
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM	69
Electroadhesion Technologies for Robotics: A Comprehensive Review	68
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control	66
Long-Range Indoor Navigation With PRM-RL	66
Direct Sparse Mapping	65
Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory	63
Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem	61
Soft Robots Modeling: A Structured Overview	59
Definition and Application of Variable Resistance Coefficient for Wheeled Mobile Robots on Deformable Terrain	57
An Iterative Approach for Accurate Dynamic Model Identification of Industrial Robots	56
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems	55
Efficient and Trustworthy Social Navigation via Explicit and Implicit Robot–Human Communication	55
An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation	54
Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors	54
Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures	53
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight	53
MPC for Humanoid Gait Generation: Stability and Feasibility	51
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios	51
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand	50
DefSLAM: Tracking and Mapping of Deforming Scenes From Monocular Sequences	50
MADER: Trajectory Planner in Multiagent and Dynamic Environments	49
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility	49
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems	49
Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration	48
A Decentralized Cluster Formation Containment Framework for Multirobot Systems	47
A Grasping-Centered Analysis for Cloth Manipulation	47
Distributed Control for Cooperative Manipulation With Event-Triggered Communication	46
Towards Generalization in Target-Driven Visual Navigation by Using Deep Reinforcement Learning	46
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications	46
Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion	46
A Survey on Swarm Microrobotics	45
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications	45
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators	45
Flow: A Modular Learning Framework for Mixed Autonomy Traffic	45
Adaptation and Robust Learning of Probabilistic Movement Primitives	45
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning	44
Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators	44
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments	44
Shape Formation in Homogeneous Swarms Using Local Task Swapping	43
Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction	43
Online State Estimation of a Fin-Actuated Underwater Robot Using Artificial Lateral Line System	43
Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications	42
Capturability-Based Pattern Generation for Walking With Variable Height	42
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight	42
Self-Supervised Visual Terrain Classification From Unsupervised Acoustic Feature Learning	42
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach	41

ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry	41
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction	41
Unseen Object Instance Segmentation for Robotic Environments	40
In Vitro Design Investigation of a Rotating Helical Magnetic Swimmer for Combined 3-D Navigation and Blood Clot Removal	39
Multirobot Coordination With Counting Temporal Logics	39
Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud	39
A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing	38
Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization	38
Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization	38
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation	38
Force Control of SEA-Based Exoskeletons for Multimode Human–Robot Interactions	37
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors	37
Persistently Excited Adaptive Relative Localization and Time-Varying Formation of Robot Swarms	36
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine	36
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers	36
Kinematics of Soft Robots by Geometric Computing	36
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping	35
Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation	35
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control	35
A Dynamic Model for Concentric Tube Robots	35
Walking Control Based on Step Timing Adaptation	35
EfficientLPS: Efficient LiDAR Panoptic Segmentation	34
Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope	34
Good Feature Matching: Toward Accurate, Robust VO/VSLAM With Low Latency	33
A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method	33
Singularity-Free Guiding Vector Field for Robot Navigation	33
MiniNet: An Efficient Semantic Segmentation ConvNet for Real-Time Robotic Applications	33
RBO Hand 3: A Platform for Soft Dexterous Manipulation	33
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control	33
STANCE: Locomotion Adaptation Over Soft Terrain	33
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost	32
Deep Neural Network Based Electrical Impedance Tomographic Sensing Methodology for Large-Area Robotic Tactile Sensing	32
Geometric Robot Dynamic Identification: A Convex Programming Approach	31
Uncertainty Estimation for Data-Driven Visual Odometry	31
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System	31
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies	31
A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths	30
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms	30
A Hierarchical Architecture for Human–Robot Cooperation Processes	30
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes	30
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions	30
An Online Initialization and Self-Calibration Method for Stereo Visual-Inertial Odometry	30
Distributed Certifiably Correct Pose-Graph Optimization	30
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery	29
Policy Search for Model Predictive Control With Application to Agile Drone Flight	29
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion	29
Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis	29
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots	29
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth	29
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications	28
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics	28
Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms	28
A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots	28
Flat Inflatable Artificial Muscles With Large Stroke and Adjustable Force– Length Relations	28
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control	27
Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot	27
Teleoperation of Humanoid Robots: A Survey	27
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery	26
Crabbot: A Pole-Climbing Robot Driven by Piezoelectric Stack	26
Toward Orientation Learning and Adaptation in Cartesian Space	26
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control	26
Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration	26
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments	25
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints	25
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems	25
Necessary and Sufficient Conditions for the Passivity of Impedance Rendering With Velocity-Sourced Series Elastic Actuation	25
Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger	25
Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem	25
Mobile Microrobots for In Vitro Biomedical Applications: A Survey	24
Modeling Electromagnetic Navigation Systems	24
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration	24
Feasible Region: An Actuation-Aware Extension of the Support Region	24
C-CROC: Continuous and Convex Resolution of Centroidal Dynamic Trajectories for Legged Robots in Multicontact Scenarios	24
An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis	24
Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks	24
Trajectory Optimization of Robots With Regenerative Drive Systems: Numerical and Experimental Results	23
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization	23
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance	23
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback	23
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation	23

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