IEEE Transactions on Robotics

Article	Citations
ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual–Inertial, and Multimap SLAM	1537
FAST-LIO2: Fast Direct LiDAR-Inertial Odometry	342
TEASER: Fast and Certifiable Point Cloud Registration	328
Past, Present, and Future of Aerial Robotic Manipulators	186
GVINS: Tightly Coupled GNSS–Visual–Inertial Fusion for Smooth and Consistent State Estimation	144
A Review of Tactile Information: Perception and Action Through Touch	134
TossingBot: Learning to Throw Arbitrary Objects With Residual Physics	122
RAPTOR: Robust and Perception-Aware Trajectory Replanning for Quadrotor Fast Flight	119
Motion Planning Networks: Bridging the Gap Between Learning-Based and Classical Motion Planners	112
Data-Driven Control of Soft Robots Using Koopman Operator Theory	100
Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges	100
Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators	96
Event-Based Stereo Visual Odometry	95
Independent Control Strategy of Multiple Magnetic Flexible Millirobots for Position Control and Path Following	92
Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds	87
Scan Context++: Structural Place Recognition Robust to Rotation and Lateral Variations in Urban Environments	85
Geometrically Constrained Trajectory Optimization for Multicopters	84
Dynamics of Continuum and Soft Robots: A Strain Parameterization Based Approach	84
PoseRBPF: A Rao–Blackwellized Particle Filter for 6-D Object Pose Tracking	83
Soft Robots Modeling: A Structured Overview	82
Convergent Multiagent Formation Control With Collision Avoidance	81
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle	81
A Multimodal, Enveloping Soft Gripper: Shape Conformation, Bioinspired Adhesion, and Expansion-Driven Suction	80
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments	79
LCDNet: Deep Loop Closure Detection and Point Cloud Registration for LiDAR SLAM	79

Object Handovers: A Review for Robotics	77
Long-Range Indoor Navigation With PRM-RL	75
Human-in-the-Loop Control of Soft Exosuits Using Impedance Learning on Different Terrains	74
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems	71
Direct Sparse Mapping	70
Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control	68
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight	66
Simultaneous Calibration of Multicoordinates for a Dual-Robot System by Solving the AXB = YCZ Problem	66
An Iterative Approach for Accurate Dynamic Model Identification of Industrial Robots	65
Energy Generating Electronic Skin With Intrinsic Tactile Sensing Without Touch Sensors	63
Enhancing the Universality of a Pneumatic Gripper via Continuously Adjustable Initial Grasp Postures	61
Slip Detection for Grasp Stabilization With a Multifingered Tactile Robot Hand	61
MADER: Trajectory Planner in Multiagent and Dynamic Environments	58
An At-Scale Tailless Flapping-Wing Hummingbird Robot. I. Design, Optimization, and Experimental Validation	58
Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion	57
A Decentralized Cluster Formation Containment Framework for Multirobot Systems	56
Game-Theoretic Planning for Self-Driving Cars in Multivehicle Competitive Scenarios	56
Robust Odometry and Mapping for Multi-LiDAR Systems With Online Extrinsic Calibration	55
DefSLAM: Tracking and Mapping of Deforming Scenes From Monocular Sequences	55
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight	54
Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications	54
A Survey on Swarm Microrobotics	54
Towards Generalization in Target-Driven Visual Navigation by Using Deep Reinforcement Learning	53
MPC for Humanoid Gait Generation: Stability and Feasibility	53
Collision Resilient Insect-Scale Soft-Actuated Aerial Robots With High Agility	53
Derivative-Based Koopman Operators for Real-Time Control of Robotic Systems	52
FASTER: Fast and Safe Trajectory Planner for Navigation in Unknown Environments	51
Cat-Like Jumping and Landing of Legged Robots in Low Gravity Using Deep Reinforcement Learning	51
Flow: A Modular Learning Framework for Mixed Autonomy Traffic	51
Lower-Limb Exoskeleton With Variable-Structure Series Elastic Actuators: Phase-Synchronized Force Control for Gait Asymmetry Correction	49
Fully Distributed Cooperation for Networked Uncertain Mobile Manipulators	49
A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontiers	48
Unseen Object Instance Segmentation for Robotic Environments	47
Origami-Inspired Soft Actuators for Stimulus Perception and Crawling Robot Applications	47
Learning-Based Proxy Collision Detection for Robot Motion Planning Applications	47
Distributed Control for Cooperative Manipulation With Event-Triggered Communication	47
A Backdrivable Kinematically Redundant (6+3)-Degree-of-Freedom Hybrid Parallel Robot for Intuitive Sensorless Physical Human–Robot Interaction	46
VIRAL-Fusion: A Visual-Inertial-Ranging-Lidar Sensor Fusion Approach	46
Operational Space Model Predictive Sliding Mode Control for Redundant Manipulators	46
Multirobot Coordination With Counting Temporal Logics	45
Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud	44
Self-Supervised Visual Terrain Classification From Unsupervised Acoustic Feature Learning	44
ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry	43
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors	42
Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization	42
Deep Neural Network Based Electrical Impedance Tomographic Sensing Methodology for Large-Area Robotic Tactile Sensing	42
Large-Scale Vision-Based Tactile Sensing for Robot Links: Design, Modeling, and Evaluation	41
Fail-Safe Motion Planning for Online Verification of Autonomous Vehicles Using Convex Optimization	41
EfficientLPS: Efficient LiDAR Panoptic Segmentation	40
RBO Hand 3: A Platform for Soft Dexterous Manipulation	40

A Real-Time Game Theoretic Planner for Autonomous Two-Player Drone Racing	40
RLOC: Terrain-Aware Legged Locomotion Using Reinforcement Learning and Optimal Control	39
Kinematics of Soft Robots by Geometric Computing	39
Policy Search for Model Predictive Control With Application to Agile Drone Flight	38
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping	38
Multilevel Operation Strategy of a Vascular Interventional Robot System for Surgical Safety in Teleoperation	38
Teleoperation of Humanoid Robots: A Survey	37
Soft Gripper Design Based on the Integration of Flat Dry Adhesive, Soft Actuator, and Microspine	37
A Compliant Adaptive Gripper and Its Intrinsic Force Sensing Method	37
Omni-Swarm: A Decentralized Omnidirectional Visual–Inertial–UWB State Estimation System for Aerial Swarms	37
A Hierarchical Architecture for Human–Robot Cooperation Processes	36
Singularity-Free Guiding Vector Field for Robot Navigation	36
A Dynamic Model for Concentric Tube Robots	35
Partially Observable Markov Decision Processes in Robotics: A Survey	35
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots	35
A Nonlinear Model Predictive Control for the Position Tracking of Cable-Driven Parallel Robots	35
MiniNet: An Efficient Semantic Segmentation ConvNet for Real-Time Robotic Applications	34
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies	34
RoboFly: An Insect-Sized Robot With Simplified Fabrication That Is Capable of Flight, Ground, and Water Surface Locomotion	34
Safe Control With Learned Certificates: A Survey of Neural Lyapunov, Barrier, and Contraction Methods for Robotics and Control	34
Human-in-the-Loop Optimization of Exoskeleton Assistance Via Online Simulation of Metabolic Cost	33
Modeling and Control of a 2-DoF Meso-Scale Continuum Robotic Tool for Pediatric Neurosurgery	33
MIMC-VINS: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System	33
Development of a Small-Sized Quadruped Robotic Rat Capable of Multimodal Motions	33
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control	33
Associating Uncertainty to Extended Poses for on Lie Group IMU Preintegration With Rotating Earth	33
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes	32
An Online Initialization and Self-Calibration Method for Stereo Visual-Inertial Odometry	32
Distributed Certifiably Correct Pose-Graph Optimization	32
A Bisection Algorithm for Time-Optimal Trajectory Planning Along Fully Specified Paths	32
Real-Time Temporal and Rotational Calibration of Heterogeneous Sensors Using Motion Correlation Analysis	32
Autonomous Suturing Framework and Quantification Using a Cable-Driven Surgical Robot	31
Perceptive Locomotion Through Nonlinear Model-Predictive Control	31
Adaptive Pattern and Motion Control of Magnetic Microrobotic Swarms	31
Uncertainty Estimation for Data-Driven Visual Odometry	31
Efficient Multicontact Pattern Generation With Sequential Convex Approximations of the Centroidal Dynamics	31
Optical Coherence Tomography-Guided Robotic Ophthalmic Microsurgery via Reinforcement Learning from Demonstration	30
Toward Orientation Learning and Adaptation in Cartesian Space	30
Crabbot: A Pole-Climbing Robot Driven by Piezoelectric Stack	30
Design and Control of a Hand-Held Concentric Tube Robot for Minimally Invasive Surgery	30
Control of Mobile Robots Using Barrier Functions Under Temporal Logic Specifications	30
An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis	29
Deep Learning Approaches to Grasp Synthesis: A Review	29
Neuromechanical Model-Based Adaptive Control of Bilateral Ankle Exoskeletons: Biological Joint Torque and Electromyogram Reduction Across Walking Conditions	29
Modeling and Stiffness-Based Continuous Torque Control of Lightweight Quasi-Direct-Drive Knee Exoskeletons for Versatile Walking Assistance	29
Pose Estimation for Ground Robots: On Manifold Representation, Integration, Reparameterization, and Optimization	29
Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback	28
Discrete Cosserat Approach for Closed-Chain Soft Robots: Application to the Fin-Ray Finger	28
Modeling Electromagnetic Navigation Systems	28
EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments	28
Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control	28
A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems	27
Dynamic Modeling and Control of Deformable Linear Objects for Single-Arm and Dual-Arm Robot Manipulations	27
Dynam-SLAM: An Accurate, Robust Stereo Visual-Inertial SLAM Method in Dynamic Environments	27
A Shared-Control Teleoperation Architecture for Nonprehensile Object Transportation	27
Powered Knee and Ankle Prosthesis With Adaptive Control Enables Climbing Stairs With Different Stair Heights, Cadences, and Gait Patterns	27
Body Stiffness Variation of a Tensegrity Robotic Fish Using Antagonistic Stiffness in a Kinematically Singular Configuration	27
Smallest Maximum Cable Tension Determination for Cable-Driven Parallel Robots	27
Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem	27
Adaptive Control Method for Dynamic Synchronization of Wearable Robotic Assistance to Discrete Movements: Validation for Use Case of Lifting Tasks	26
Artificial Perception and Semiautonomous Control in Myoelectric Hand Prostheses Increases Performance and Decreases Effort	26
Implementing Rat-Like Motion for a Small-Sized Biomimetic Robot Based on Extraction of Key Movement Joints	26
Mobile Microrobots for In Vitro Biomedical Applications: A Survey	26
Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems	25
On Closed-Form Formulas for the 3-D Nearest Rotation Matrix Problem	25
Optimal UAV Route Planning for Persistent Monitoring Missions	25
3-D Underactuated Bipedal Walking via H-LIP Based Gait Synthesis and Stepping Stabilization	25
Learning for Attitude Holding of a Robotic Fish: An End-to-End Approach With Sim-to-Real Transfer	24
Multiagent Planning and Control for Swarm Herding in 2-D Obstacle Environments Under Bounded Inputs	24
Cramér–Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM	24
Feasible Region: An Actuation-Aware Extension of the Support Region	24
Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit	24
Singularity Conditions for Continuum Parallel Robots	24
Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents	23
Outlier-Robust Estimation: Hardness, Minimally Tuned Algorithms, and Applications	23
Energy-Efficient Path Planning of Reconfigurable Robots in Complex Environments	23
A Novel Radar Point Cloud Generation Method for Robot Environment Perception	23
Learning to Play Table Tennis From Scratch Using Muscular Robots	23
Development of an Untethered Adaptive Thumb Exoskeleton for Delicate Rehabilitation Assistance	23
Neural-Swarm2: Planning and Control of Heterogeneous Multirotor Swarms Using Learned Interactions	23

Elasticity Meets Continuous-Time: Map-Centric Dense 3D LiDAR SLAM	23
Design, Development, and Control of a Hand/Wrist Exoskeleton for Rehabilitation and Training	23
Force from Shape—Estimating the Location and Magnitude of the External Force on Flexible Instruments	23
Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-Guided Robotic Platform—Validation With Pulmonary Vein Isolation Simulator in MRI	22
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation	22
Elongatable Gripper Fingers With Integrated Stretchable Tactile Sensors for Underactuated Grasping and Dexterous Manipulation	22
Autonomous Cave Surveying With an Aerial Robot	22
Multirobot Collaborative Monocular SLAM Utilizing Rendezvous	22
Feedback Altitude Control of a Flying Insect–Computer Hybrid Robot	22
Empty Cities: A Dynamic-Object-Invariant Space for Visual SLAM	22
Spatiotemporal Multisensor Calibration via Gaussian Processes Moving Target Tracking	22
Single Master Bimanual Teleoperation System With Efficient Regulation	22
Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra	22
Random-Finite-Set-Based Distributed Multirobot SLAM	22
TAMOLS: Terrain-Aware Motion Optimization for Legged Systems	22
A 5-mm Untethered Crawling Robot via Self-Excited Electrostatic Vibration	22
A Dexterous Robotic System for Autonomous Debridement of Osteolytic Bone Lesions in Confined Spaces: Human Cadaver Studies	21
Probabilistic Modeling and Bayesian Filtering for Improved State Estimation for Soft Robots	21
Line Flow Based Simultaneous Localization and Mapping	21
HanGrawler: Large-Payload and High-Speed Ceiling Mobile Robot Using Crawler	21
Morphing Origami Block for Lightweight Reconfigurable System	20
Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments	20
Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking	20
Energy Regeneration From Electromagnetic Induction by Human Dynamics for Lower Extremity Robotic Prostheses	20
Predefined-Time Robust Hierarchical Inverse Dynamics on Torque-Controlled Redundant Manipulators	20
Design, Control, and Psychophysics of Tasbi: A Force-Controlled Multimodal Haptic Bracelet	20
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry With Full Self-Calibration	20
Soft Exoskeleton With Fully Actuated Thumb Movements for Grasping Assistance	20
SOFT2: Stereo Visual Odometry for Road Vehicles Based on a Point-to-Epipolar-Line Metric	20
Constrained Probabilistic Movement Primitives for Robot Trajectory Adaptation	20
Analysis of Coupling Effect in Human-Commanded Stiffness During Bilateral Tele-Impedance	20
Constructive Time-Varying Vector Fields for Robot Navigation	20
Scalable and Robust Algorithms for Task-Based Coordination From High-Level Specifications (ScRATCHeS)	20
Wasserstein Distributionally Robust Motion Control for Collision Avoidance Using Conditional Value-at-Risk	20
Static Workspace Optimization of Aerial Cable Towed Robots With Land-Fixed Winches	19
Adaptive Feet for Quadrupedal Walkers	19
Stochastic Dynamic Games in Belief Space	19
Graph-Based Thermal–Inertial SLAM With Probabilistic Neural Networks	19
Shoulder-sideWINDER (Shoulder-side Wearable INDustrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment	19
Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization	19
Optimal Force Allocation for Overconstrained Cable-Driven Parallel Robots: Continuously Differentiable Solutions With Assessment of Computational Efficiency	19
An Evolutionary-Optimized Surgical Path Planner for a Programmable Bevel-Tip Needle	19
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning	19
A Geometric Approach for Grasping Unknown Objects With Multifingered Hands	18
Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme	18
Automated Routing of Muscle Fibers for Soft Robots	18
Workspace-Based Model Predictive Control for Cable-Driven Robots	18
Impedance Modulation Control of a Lower-Limb Exoskeleton to Assist Sit-to-Stand Movements	18
Following Leaders in Byzantine Multirobot Systems by Using Blockchain Technology	18
Kalman-Filter-Based, Dynamic 3-D Shape Reconstruction for Steerable Needles With Fiber Bragg Gratings in Multicore Fibers	18
Anthropomorphic Twisted String-Actuated Soft Robotic Gripper With Tendon-Based Stiffening	18
ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings	18
Toward a Unified Approximate Analytical Representation for Spatially Running Spring-Loaded Inverted Pendulum Model	18
Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach	18
Information Correlated Lévy Walk Exploration and Distributed Mapping Using a Swarm of Robots	18
A Two-Stage Optimization-Based Motion Planner for Safe Urban Driving	18
Resilient and Consistent Multirobot Cooperative Localization With Covariance Intersection	18
Kinematic Modeling and Characterization of Soft Parallel Robots	18
View Path Planning via Online Multiview Stereo for 3-D Modeling of Large-Scale Structures	17
RACER: Rapid Collaborative Exploration With a Decentralized Multi-UAV System	17
Enabling Dynamic Behaviors With Aerodynamic Drag in Lightweight Tails	17
Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields	17
Design and Control of a Midair-Reconfigurable Quadcopter Using Unactuated Hinges	17
Safe Active Dynamics Learning and Control: A Sequential Exploration–Exploitation Framework	17
Perception-Based Temporal Logic Planning in Uncertain Semantic Maps	16
Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles	16
Spherical Wrist With Hybrid Motion-Impedance Control for Enhanced Robotic Manipulations	16
Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly	16
Controlled Noncontact Manipulation of Nonmagnetic Untethered Microbeads Orbiting Two-Tailed Soft Microrobot	16
Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives	16
Bio-Inspired Rapid Escape and Tight Body Flip on an At-Scale Flapping Wing Hummingbird Robot Via Reinforcement Learning	16
A Computational Multicriteria Optimization Approach to Controller Design for Physical Human-Robot Interaction	16
Distributed Motion Coordination for Multirobot Systems Under LTL Specifications	16
A Secure Robot Learning Framework for Cyber Attack Scheduling and Countermeasure	16
A Real-Time State Dependent Region Estimator for Autonomous Endoscope Navigation	16
Fast UAV Trajectory Optimization Using Bilevel Optimization With Analytical Gradients	15
Adaptive Helical Rolling of a Snake Robot to a Straight Pipe With Irregular Cross-Sectional Shape	15
Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets	15
Characterizing Trust and Resilience in Distributed Consensus for Cyberphysical Systems	15
Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain	15
Eccentric Tube Robots as Multiarmed Steerable Sheaths	15
PHD-SLAM 2.0: Efficient SLAM in the Presence of Missdetections and Clutter	15
Active-Cooling-in-the-Loop Controller Design and Implementation for an SMA-Driven Soft Robotic Tentacle	15
A Novel Wavelet-Based Gait Segmentation Method for a Portable Hip Exoskeleton	15
Dynamic Resilient Containment Control in Multirobot Systems	15
3D Navigation Control of Untethered Magnetic Microrobot in Centimeter-Scale Workspace Based on Field-of-View Tracking Scheme	15
A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming	15
Learning a Spatial Field in Minimum Time With a Team of Robots	15
Kinodynamic Model Identification: A Unified Geometric Approach	15
Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization	15
Stochastic Motion Planning Under Partial Observability for Mobile Robots With Continuous Range Measurements	14
Design of a New Bio-Inspired Dual-Axis Compliant Micromanipulator With Millimeter Strokes	14
Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact	14
Shake and Take: Fast Transformation of an Origami Gripper	14
Modularization of 2- and 3-DoF Coupled Tendon-Driven Joints	14