IEEE Transactions on Robotics

Article	Citations
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM	1866
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry	466
TEASER: Fast and Certifiable Point Cloud Registration	393
Past, Present, and Future of Aerial Robotic Manipulators	210
GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation	166
A Review of Tactile Information: Perception and Action Through Touch	156
RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight	135
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners	129
Data-Driven Control of Soft Robots Using Koopman Operator Theory	117
Geometrically Constrained Trajectory Optimization for Multicopters	112
Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges	111
Event-Based Stereo Visual Odometry	110
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following	108
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments	108
Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators	101
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds	99
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM	94
Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach	92
Soft Robots Modeling: A Structured Overview	92
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle	92
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems	91
PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking	90
Object Handovers: A Review for Robotics	87
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight	86
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction	83

Convergent Multiagent Formation Control With Collision Avoidance	81
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains	79
MADER: Trajectory Planner in Multiagent and Dynamic Environments	74
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control	74
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios	72
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers	71
Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem	71
Flow: A Modular Learning Framework for Mixed Autonomy Traffic	70
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand	69
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight	68
A Decentralized Cluster Formation Containment Framework for Multirobot Systems	67
Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion	67
Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors	66
Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures	63
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications	63
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments	62
Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration	61
A Survey on Swarm Microrobotics	60
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning	60
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems	60
DefSLAM: Tracking and Mapping of Deforming Scenes From Monocular Sequences	59
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility	57
Deep Learning Approaches to Grasp Synthesis: A Review	57
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control	56
Self-Supervised Visual Terrain Classification From Unsupervised Acoustic Feature Learning	55
Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction	54
Unseen Object Instance Segmentation for Robotic Environments	54
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction	54
Teleoperation of Humanoid Robots: A Survey	53
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots	53
Deep Neural Network Based Electrical Impedance Tomographic Sensing Methodology for Large-Area Robotic Tactile Sensing	53
Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications	52
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach	51
Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization	50
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms	49
RBO Hand 3: A Platform for Soft Dexterous Manipulation	48
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors	48
EfficientLPS: Efficient LiDAR Panoptic Segmentation	48
A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method	48
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation	47
ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry	46
Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation	46
Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud	46
Perceptive Locomotion Through Nonlinear Model-Predictive Control	46
Partially Observable Markov Decision Processes in Robotics: A Survey	45
Policy Search for Model Predictive Control With Application to Agile Drone Flight	45
Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments	43
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System	42
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control	42
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions	40

Dynamic Modeling and Control of Deformable Linear Objects for Single-Arm and Dual-Arm Robot Manipulations	39
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping	39
Singularity-Free Guiding Vector Field for Robot Navigation	38
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies	38
A Hierarchical Architecture for Human–Robot Cooperation Processes	37
Distributed Certifiably Correct Pose-Graph Optimization	37
A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots	37
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine	37
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion	37
A Dynamic Model for Concentric Tube Robots	37
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost	36
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery	36
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth	36
Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions	35
Crabbot: A Pole-Climbing Robot Driven by Piezoelectric Stack	35
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control	35
Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot	35
A Novel Radar Point Cloud Generation Method for Robot Environment Perception	34
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization	34
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance	34
Toward Orientation Learning and Adaptation in Cartesian Space	33
Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis	33
Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms	33
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics	33
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes	33
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems	33
RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System	33
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments	32
Uncertainty Estimation for Data-Driven Visual Odometry	32
A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths	32
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications	32
An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis	32
Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger	32
Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization	31
Modeling Electromagnetic Navigation Systems	31
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems	31
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback	31
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery	31
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration	30
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems	30
Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM	30
Learning to Play Table Tennis From Scratch Using Muscular Robots	29
Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem	29
Optimal UAV Route Planning for Persistent Monitoring Missions	29
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms Using Learned Interactions	29
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation	29
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly	28
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning	28
Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks	28
Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs	28
Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots	28
Design, Development, and Control of a Hand/Wrist Exoskeleton for Rehabilitation and Training	27
Cramér–Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM	27
Powered Knee and Ankle Prosthesis With Adaptive Control Enables Climbing Stairs With Different Stair Heights, Cadences, and Gait Patterns	27
Artificial Perception and Semiautonomous Control in Myoelectric Hand Prostheses Increases Performance and Decreases Effort	27
Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance	27
Singularity Conditions for Continuum Parallel Robots	27
Learning for Attitude Holding of a Robotic Fish: An End-to-End Approach With Sim-to-Real Transfer	27
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints	27
Mobile Microrobots for In Vitro Biomedical Applications: A Survey	26
Optimization-Based Control for Dynamic Legged Robots	26
Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit	26
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications	26
Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk	26
Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-Guided Robotic Platform—Validation With Pulmonary Vein Isolation Simulator in MRI	26
Elongatable Gripper Fingers With Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation	26
AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domains	26
Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance	25
Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking	25
Autonomous Cave Surveying With an Aerial Robot	25
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry With Full Self-Calibration	25
Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme	25
Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening	25
Kinematic Modeling and Characterization of Soft Parallel Robots	25
Line Flow Based Simultaneous Localization and Mapping	25
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)	25
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking	25
Morphing Origami Block for Lightweight Reconfigurable System	24
Random-Finite-Set-Based Distributed Multirobot SLAM	24
Force from Shape—Estimating the Location and Magnitude of the External Force on Flexible Instruments	24

Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements	24
Feedback Altitude Control of a Flying Insect–Computer Hybrid Robot	24
SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric	24
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation	24
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments	24
Probabilistic Modeling and Bayesian Filtering for Improved State Estimation for Soft Robots	24
Energy-Efficient Path Planning of Reconfigurable Robots in Complex Environments	24
ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings	23
Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach	23
Kalman-Filter-Based, Dynamic 3-D Shape Reconstruction for Steerable Needles With Fiber Bragg Gratings in Multicore Fibers	23
Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet	23
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge	23
Constructive Time-Varying Vector Fields for Robot Navigation	23
Multirobot Collaborative Monocular SLAM Utilizing Rendezvous	23
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands	23
Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents	23
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation	22
View Path Planning via Online Multiview Stereo for 3-D Modeling of Large-Scale Structures	22
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies	22
Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives	22
Analysis of Coupling Effect in Human-Commanded Stiffness During Bilateral Tele-Impedance	22
Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM	22
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency	22
A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration	22
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation	22
Adaptive Helical Rolling of a Snake Robot to a Straight Pipe With Irregular Cross-Sectional Shape	22
Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection	22
A Two-Stage Optimization-Based Motion Planner for Safe Urban Driving	21
Safe Active Dynamics Learning and Control: A Sequential Exploration–Exploitation Framework	21
Workspace-Based Model Predictive Control for Cable-Driven Robots	21
Following Leaders in Byzantine Multirobot Systems by Using Blockchain Technology	21
Dynamic Parameter Identification of Serial Robots Using a Hybrid Approach	21
Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators	21
Stochastic Dynamic Games in Belief Space	21
BarrierNet: Differentiable Control Barrier Functions for Learning of Safe Robot Control	21
Active-Cooling-in-the-Loop Controller Design and Implementation for an SMA-Driven Soft Robotic Tentacle	21
Adaptive Feet for Quadrupedal Walkers	21
Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges	21
Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets	20
An Evolutionary-Optimized Surgical Path Planner for a Programmable Bevel-Tip Needle	20
Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization	20
Shoulder-sideWINDER (Shoulder-side Wearable INDustrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment	20
Automated Routing of Muscle Fibers for Soft Robots	20
Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations	20
$\mathbf{\alpha }$-WaLTR: Adaptive Wheel-and-Leg Transformable Robot for Versatile Multiterrain Locomotion	19
Characterizing Trust and Resilience in Distributed Consensus for Cyberphysical Systems	19
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain	19
Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks	19
Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields	19
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails	19
A Secure Robot Learning Framework for Cyber Attack Scheduling and Countermeasure	19
Distributed Motion Coordination for Multirobot Systems Under LTL Specifications	18
Bio-Inspired Rapid Escape and Tight Body Flip on an At-Scale Flapping Wing Hummingbird Robot Via Reinforcement Learning	18
Physics-Based Modeling of Twisted-and-Coiled Actuators Using Cosserat Rod Theory	18
Toward a Unified Approximate Analytical Representation for Spatially Running Spring-Loaded Inverted Pendulum Model	18
Dynamic Resilient Containment Control in Multirobot Systems	18
A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units	18
Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles	18
A Novel Wavelet-Based Gait Segmentation Method for a Portable Hip Exoskeleton	18
Kinetostatic Modeling of Tendon-Driven Parallel Continuum Robots	17
Constrained Motion Planning Networks X	17
Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact	17
3D Navigation Control of Untethered Magnetic Microrobot in Centimeter-Scale Workspace Based on Field-of-View Tracking Scheme	17
Perception-Based Temporal Logic Planning in Uncertain Semantic Maps	17
A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction	17
Kinodynamic Model Identification: A Unified Geometric Approach	17
Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments	17
PHD-SLAM 2.0: Efficient SLAM in the Presence of Missdetections and Clutter	17
Temporal Logic Task Allocation in Heterogeneous Multirobot Systems	17
Safety-Aware Hierarchical Passivity-Based Variable Compliance Control for Redundant Manipulators	17
Evaluation of a Fused Sonomyography and Electromyography-Based Control on a Cable-Driven Ankle Exoskeleton	17
Magnetically Controlled Modular Cubes With Reconfigurable Self-Assembly and Disassembly	17
Controllability and Stabilization for Herding a Robotic Swarm Using a Leader: A Mean-Field Approach	16
Eccentric Tube Robots as Multiarmed Steerable Sheaths	16
Riemannian Optimization for Distance-Geometric Inverse Kinematics	16
Three-Dimensional Bearing-Only Target Following via Observability-Enhanced Helical Guidance	16
Resilient Monitoring in Heterogeneous Multi-Robot Systems Through Network Reconfiguration	16
A Novel Actuation Strategy for an Agile Bioinspired FWAV Performing a Morphing-Coupled Wingbeat Pattern	16
A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery	16
Design and Optimization of a Multimode Amphibious Robot With Propeller-Leg	16
A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming	16
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain	16
A Successive-Elimination Approach to Adaptive Robotic Source Seeking	16
Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization	16
Fast UAV Trajectory Optimization Using Bilevel Optimization With Analytical Gradients	16
On the Workspace of Electromagnetic Navigation Systems	16
In-Hand Object-Dynamics Inference Using Tactile Fingertips	16
Adaptive Simultaneous Magnetic Actuation and Localization for WCE in a Tubular Environment	16
Design of a New Bio-Inspired Dual-Axis Compliant Micromanipulator With Millimeter Strokes	16
Transferable Collision Detection Learning for Collaborative Manipulator Using Versatile Modularized Neural Network	15
Shake and Take: Fast Transformation of an Origami Gripper	15
A Novel Recursive Smooth Trajectory Generation Method for Unmanned Vehicles	15
Stabilization of Complementarity Systems via Contact-Aware Controllers	15
A Decade of MRI Compatible Robots: Systematic Review	15
Human–Robot Interaction Evaluation-Based AAN Control for Upper Limb Rehabilitation Robots Driven by Series Elastic Actuators	15