Distributed Multi-Robot Active-Sensing of a Diffusive Source

Authors: Pagano, Francesca, de Carli, Nicola, Restrepo, Esteban, Marino, Antonio, Giordano, Paolo Robuffo

Contributors: Marchand, Eric

Source: IEEE Robotics and Automation Letters. 10:10807-10814

Subject Terms: Distributed Robot Systems, Active-Sensing, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Gramian, Multi-Robot Systems

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Distributed NMPC for Cooperative Aerial Manipulation of Cable-Suspended Loads

Authors: Nicola De Carli, Riccardo Belletti, Emanuele Buzzurro, Andrea Testa, Giuseppe Notarstefano, Marco Tognon

Contributors: Tognon, Marco

Source: IEEE Robotics and Automation Letters. 10:10546-10553

Subject Terms: cooperating robots, multi-robot systems, Aerial systems, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]

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Access URL: https://hal.science/hal-05239115v1
https://doi.org/10.1109/lra.2025.3604703
https://hal.science/hal-05239115v1/document

Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources

Authors: Zhu, James, Simeon, Thierry, Cognetti, Marco

Contributors: Cognetti, Marco

Source: IEEE Robotics and Automation Letters. 10:10330-10337

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, Planning under Uncertainty, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Robust/Adaptive Control

File Description: application/pdf

Access URL: https://hal.science/hal-05208652v1/document
https://doi.org/10.1109/lra.2025.3597863
https://hal.science/hal-05208652v1

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Authors: Gonzalez-Morgado, Antonio, Soueidan, Jonas, Heredia, Guillermo, Ollero, Anibal, Fraisse, Philippe, Tognon, Marco, Cognetti, Marco

Contributors: Cognetti, Marco

Source: IEEE Robotics and Automation Letters. 10:9670-9677

Subject Terms: Physical Human-Robot Interaction, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], Aerial Systems: Mechanics and Control

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Access URL: https://hal.science/hal-05208698v1/document
https://hal.science/hal-05208698v1
https://doi.org/10.1109/lra.2025.3597854

Non-Holonomic Mobile Manipulator NMPC for Occlusion Avoidance Based on Elliptic Cone FOV Representation

Authors: Porée, Rémi, Mujica, Martin, Tricot, Nicolas, Cadenat, V.

Contributors: Porée, Rémi

Source: 2025 European Conference on Mobile Robots (ECMR). :1-7

Subject Terms: Manipulators, [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Robot vision systems, Shape, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO] Computer Science [cs], Cameras, Mobile manipulator

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Access URL: https://hal.science/hal-05292762v1
https://hal.science/hal-05292762v1/document
https://doi.org/10.1109/ecmr65884.2025.11163014

When and Where Localization Fails: An Analysis of the Iterative Closest Point in Evolving Environment

Authors: Dannaoui, Abdel-Raouf, Laconte, Johann, Debain, Christophe, Pomerleau, Francois, Checchin, Paul

Contributors: Dannaoui, Abdel-Raouf

Source: 2025 European Conference on Mobile Robots (ECMR). :1-7

Subject Terms: FOS: Computer and information sciences, Localization, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], ICP, Robotics, Robotics (cs.RO), Dataset

File Description: application/pdf

Access URL: http://arxiv.org/abs/2507.17531
https://hal.inrae.fr/hal-05173203v1

Feeling the Force: A Nuanced Physics-based Traversability Sensor for Navigation in Unstructured Vegetation

Authors: Khizar, Zaar, Laconte, Johann, Lenain, Roland, Aufrère, Romuald

Contributors: Khizar, Muhammad Haseeb

Source: 2025 European Conference on Mobile Robots (ECMR). :1-6

Subject Terms: FOS: Computer and information sciences, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], FOS: Electrical engineering, electronic engineering, information engineering, Robotics, Systems and Control (eess.SY), Robotics (cs.RO), Systems and Control

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Access URL: http://arxiv.org/abs/2507.19831
https://hal.science/hal-05187833v1

Foundational Models for Robotics need to be made Bio-Inspired

Authors: Chen, Liming, Nguyen, Sao Mai

Contributors: Chen, Liming

Source: 2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO). :126-133

Subject Terms: Grounded Reasoning, Sparse Mixture of Experts (MoE), Self-Supervised Learning, Sensorimotor Integration, Bio-Inspired Robotics, Foundation Models for Robotics (FMRs), Intrinsic Motivation, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Memory-Augmented Models, Embodied Chain-of-Thought (E-CoT), Embodied AI, Multimodal Learning, Interactive Robot Learning

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Access URL: https://hal.science/hal-05086677v1

On the Computation of Sensitivity Tubes

Authors: Andrea Pupa, Tommaso Belvedere, Cristian Secchi, Paolo Robuffo Giordano

Contributors: Marchand, Eric

Source: IEEE Robotics and Automation Letters. 10:8802-8809

Subject Terms: Integrated Planning and Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Planning under Uncertainty, Optimization and Optimal Control

File Description: application/pdf

Access URL: https://hal.science/hal-05158394v1/document
https://doi.org/10.1109/lra.2025.3587562
https://hal.science/hal-05158394v1

Door-to-Door Parcel Delivery From Supply Point to User’s Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon

Authors: Suarez, Alejandro, Kartmann, Rainer, Leidner, Daniel, Rossini, Luca, Huber, Johann, Azevedo, Carlos, Rouxel, Quentin, Bjelonic, Marko, Gonzalez-Morgado, Antonio, Dreher, Christian, Schmaus, Peter, Laurenzi, Arturo, Hélénon, François, Serra, Rodrigo, Mouret, Jean-Baptiste, Wellhausen, Lorenz, Perez-Sanchez, Vicente, Gao, Jianfeng, Bauer, Adrian Simon, De Luca, Alessio, Abrini, Mouad, Bettencourt, Rui, Rochel, Olivier, Lee, Joonho, Viana, Pablo, Pohl, Christoph, Batti, Nesrine, Vedelago, Diego, Guda, Vamsi Krishna, Reske, Alexander, Alvarez, Carlos, Reister, Fabian, Friedl, Werner, Burchielli, Corrado, Baudry, Aline, Peller-Konrad, Fabian, Gumpert, Thomas, Muratore, Luca, Gauthier, Philippe, Krebs, Franziska, Jung, Sebastian, Baccelliere, Lorenzo, Watrelot, Hippolyte, Meixner, Andre, Köpken, Anne, Chetouani, Mohamed, Weiner, Pascal, Lay, Florian, Hundhausen, Felix, Reichert, Anne, Jaquier, Noémie, Schmidt, Florian, Sewtz, Marco, Stulp, Freek, Suchenwirth, Lioba, Triebel, Rudolph, Wu, Xuwei, Arrue, Begoña, Schedl-Warpup, Rebecca, Hutter, Marco, Ivaldi, Serena, Lima, Pedro U., Doncieux, Stéphane, Tsagarakis, Nikos, Asfour, Tamim, Ollero, Anibal, Albu-Schäffer, Alin

Contributors: Huber, Johann

Source: IEEE Robotics and Automation Magazine
IEEE Robotics & Automation Magazine

Subject Terms: ddc:004, Handover, Service robots, DATA processing & computer science, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Transportation, Logistics, Product delivery, Navigation, Manipulators, Robot sensing systems, Legged locomotion, Hackathon

File Description: application/pdf

Access URL: https://publikationen.bibliothek.kit.edu/1000178880/156941963
https://doi.org/10.5445/IR/1000178880
https://publikationen.bibliothek.kit.edu/1000178880

How to Shake Trees With Aerial Manipulators? A Theoretical and Experimental Study

Authors: González-Morgado, Antonio, Cuniato, Eugenio, Heredia, Guillermo, Ollero, Aníbal, Siegwart, Roland, Tognon, Marco

Contributors: Tognon, Marco

Source: IEEE Robotics and Automation Letters. 10:8067-8074

Subject Terms: Controlled Shaking, Force Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], [SDV.SA.STA] Life Sciences [q-bio]/Agricultural sciences/Sciences and technics of agriculture, [SDE.IE] Environmental Sciences/Environmental Engineering, Aerial Manipulators, Aerial Systems: Mechanics and Control

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Quasi-Static Cosserat Rods in Contact With Implicit Surfaces

Authors: Jilani, Radhouane, Villard, Pierre-Frédéric, Kerrien, Erwan

Contributors: Villard, Pierre-Frédéric

Source: IEEE Robotics and Automation Letters. 10:6536-6543

Subject Terms: Surgical robotics: steerable catheters/needles, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Modeling control and learning for soft robots, [INFO.INFO-MO] Computer Science [cs]/Modeling and Simulation

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QP-Based Inner-Loop Control for Constraint-Safe and Robust Trajectory Tracking for Aerial Robots

Authors: Balandi, Lorenzo, Giordano, Paolo Robuffo, Tognon, Marco

Contributors: Balandi, Lorenzo

Source: IEEE Robotics and Automation Letters. 10:6640-6647

Subject Terms: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], Motion Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Aerial Systems: Mechanics and Control

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Infinite-Horizon Value Function Approximation for Model Predictive Control

Authors: Armand Jordana, Sébastien Kleff, Arthur Haffemayer, Joaquim Ortiz-Haro, Justin Carpentier, Nicolas Mansard, Ludovic Righetti

Contributors: Carpentier, Justin

Source: IEEE Robotics and Automation Letters. 10:7563-7570

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Robotics (cs.RO)

File Description: application/pdf

Access URL: http://arxiv.org/abs/2502.06760
https://laas.hal.science/hal-04948407v1/document
https://laas.hal.science/hal-04948407v1
https://doi.org/10.48550/arxiv.2502.06760

A Late Collaborative Perception Framework for 3D Multi-Object and Multi-Source Association and Fusion

Authors: Fadili, Maryem, Ghaoui, Mohamed Anis, Lecrosnier, Louis, Pechberti, Steve, Khemmar, Redouane

Contributors: FADILI, MARYEM

Source: 2025 9th International Conference on Robotics and Automation Sciences (ICRAS). :259-266

Subject Terms: Signal Processing (eess.SP), FOS: Computer and information sciences, Sensor fusion, [INFO.INFO-TS] Computer Science [cs]/Signal and Image Processing, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Image and Video Processing (eess.IV), Image and Video Processing, Robotics, Collaborative perception, 3D object detection, [INFO.INFO-TI] Computer Science [cs]/Image Processing [eess.IV], Signal Processing, Autonomous driving, FOS: Electrical engineering, electronic engineering, information engineering, Robotics (cs.RO)

File Description: application/pdf

Access URL: http://arxiv.org/abs/2507.02430

Multi-Rules Reachability Analysis for Road Agents Using Graph-Based Maps and Real-Time Kinematics

Authors: Fossati, Monica, Malis, Ezio, Martinet, Philippe

Contributors: Fossati, Monica

Source: 2025 IEEE Intelligent Vehicles Symposium (IV). :119-124

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]

File Description: application/pdf

Access URL: https://hal.science/hal-05042259v1

PL-RAS: A Robust Localization System with Real Time Protection Level Calculation and Adaptive Kernel for Enhanced Integrity

Authors: Maharmeh, Elias, Alsayed, Zayed, Nashashibi, Fawzi

Contributors: MAHARMEH, Elias

Source: 2025 IEEE Intelligent Vehicles Symposium (IV). :427-433

Subject Terms: LiDAR baed localzaition, Integrity, Protection Level, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]

File Description: application/pdf

Access URL: https://hal.science/hal-05044097v1

An Extended Horizon Tactical Decision-Making for Automated Driving Based on Monte Carlo Tree Search

Authors: Essalmi, Karim, Garrido, Fernando, Nashashibi, Fawzi

Contributors: ESSALMI, Karim

Source: 2025 IEEE Intelligent Vehicles Symposium (IV). :1127-1132

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, Automated driving, Monte Carlo Tree Search, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Long-term planning, Maneuver planning, Robotics (cs.RO), Decision-making

File Description: application/pdf

Access URL: http://arxiv.org/abs/2504.15869
https://inria.hal.science/hal-05074607v1/document
https://inria.hal.science/hal-05074607v1

Towards High-Resolution Seafloor 3D Mapping from Underwater Flash LiDAR and ICP Registration

Authors: Ferrera, Maxime, Pache, Christophe, Holzer, Jannis, Bosch, Eleonoor, Arnaubec, Aurélien, Puigserver, Bernard, Djahel, Rahima, Escartín, Javier, Opderbecke, Jan

Contributors: Ferrera, Maxime

Source: OCEANS 2025 Brest. :1-5

Subject Terms: Lidar, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], ICP, Robotics, Underwater, 3D Mapping

File Description: application/pdf

Access URL: https://hal.science/hal-05094692v1
https://archimer.ifremer.fr/doc/00972/108344/
https://archimer.ifremer.fr/doc/00972/108344/122007.pdf

SEMAPHORO-2D : Design of a 2 degrees of freedom haptic interface to study communication through forces

Authors: Ndiaye, Ousmane, Saint-Bauzel, Ludovic

Contributors: Saint-Bauzel, Ludovic

Source: 2025 IEEE International Conference on Real-time Computing and Robotics (RCAR). :582-587

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Bilateral teleoperation, Haptics, [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], Physical Human-Robot interaction, Mechatronics

File Description: application/pdf