Publications - Planning, Control & Manipulation

The following publications have been published by the Planning, Control & Manipulation team in the course of their ORCA Hub research to date.

Research paper topics grouped by theme in a topic map

Angelini F, Xin G, Wolfslag W, Tiseo C, Mistry M, Garabini M, ... Vijayakumar S. (2019). Online Optimal Impedance Planning for Legged Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 6028-6035, doi: 10.1109/IROS40897.2019.8967696

Azad, M., Babič, J. & Mistry, M. Effects of the weighting matrix on dynamic manipulability of robots. Auton Robot 43, 1867–1879 (2019), doi: 10.1007/s10514-018-09819-y

Belter D, Bednarek J, Lin H, Xin G, Mistry M. (2019). Single-shot Foothold Selection and Constraint Evaluation for Quadruped Locomotion. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019, pp. 7441-7447, doi: 10.1109/ICRA.2019.8793801

Braithwaite A, Alhinai T, Haas-Heger M, McFarlane E, Kovač M. (2018). Tensile Web Construction and Perching with Nano Aerial Vehicles. Robotics Research, doi: 10.1007/978-3-319-51532-8_5

Brandao M, Fallon M, Havoutis I. (2019). Multi-Controller multi-objective locomotion planning for legged robots. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 4714-4721, doi: 10.1109/IROS40897.2019.8967926.

Carreno Y, Petrick R, Petillot Y. (2019). Multi-agent Strategy for Marine Applications via Temporal Planning. 2019 IEEE Second International Conference on Artificial Intelligence and Knowledge Engineering (AIKE), Sardinia, Italy, 2019, pp. 243-250, doi: 10.1109/AIKE.2019.00049

Carreno Y, Petrick R, Petillot Y. (2019). Towards Long-Term Autonomy Based on Temporal Planning. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part II (pp. 143-154). Springer International Publishing, doi: 10.1007/978-3-030-25332-5_13

Carreno Y, Pairet E, Petillot Y, Petrick R. (2020). A Decentralised Strategy for Heterogeneous AUV Missions via Goal Distribution and Temporal Planning. Vol 30 (2020): Proceedings of the Thirtieth International Conference on Automated Planning and Scheduling (ICAPS)

Carreno Y, Pairet E, Petillot Y, Petrick R. (2020). Task Allocation Strategy for Heterogeneous Robot Teams in Offshore Missions. Proceedings of the 19th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '20), May 2020, Pages 222–230

Carreno Y, Petrick R, Petillot Y. (2019). Multi-Vehicle Temporal Planning for Underwater Applications. Proceedings of the 7th ICAPS Workshop on Planning and Robotics 2019 (PlanRob 2019), Berkeley, United States

Chatzinikolaidis I, Stouraitis T, Vijayakumar S, Li Z. (2018). Nonlinear Optimization Using Discrete Variational Mechanics for Dynamic Maneuvers of a 3D One-Leg Hopper. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 1-9, doi: 10.1109/HUMANOIDS.2018.8624981

Chermprayong P, Zhang K, Xiao F, Kovac M. (2019). An Integrated Delta Manipulator for Aerial Repair: A New Aerial Robotic System in IEEE Robotics & Automation Magazine, vol. 26, no. 1, pp. 54-66, March 2019, doi: 10.1109/MRA.2018.2888911

Dehio N, Smith J, Wigand D, Xin G, Lin H, Steil J, ... Mistry M. (2018). Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 294-301, doi: 10.1109/ICRA.2018.8462872

Deng H, Xin G, Zhong G, Mistry M. (2018). Object carrying of hexapod robots with integrated mechanism of leg and arm. Robotics and Computer-Integrated Manufacturing, Volume 54, December 2018, Pages 145-155, doi: 10.1016/j.rcim.2017.11.014

Geisert M, Yates T, Orgen A, Fernbach P, Havoutis I. (2019). Contact Planning for the ANYmal Quadruped Robot Using an Acyclic Reachability-Based Planner. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part I (pp. 275-287). Springer International Publishing

Giorgio-Serchi F, Lidtke A, Weymouth G. (2018). A Soft Aquatic Actuator for Unsteady Peak Power Amplification. IEEE/ASME Transactions on Mechatronics, vol. 23, no. 6, pp. 2968-2973, Dec. 2018, doi: 10.1109/TMECH.2018.2873253

Goldberg B, Zufferey R, Doshi N, Helbling E, Whittredge G, Kovac M, ... Wood R. (2018). Power and Control Autonomy for High-Speed Locomotion With an Insect-Scale Legged Robot. IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 987-993, April 2018, , doi: 10.1109/LRA.2018.2793355

Hu W, Chatzinikolaidis I, Yuan K, Li Z. (2018). Comparison Study of Nonlinear Optimization of Step Durations and Foot Placement for Dynamic Walking. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 433-439, doi: 10.1109/ICRA.2018.8461101

Ivan V., Garriga-Casanovas A., Khalili P., Merkt W., Cegla F. B., Vijayakumar S. (2020). Autonomous Non-destructive Remote Robotic Inspection of Offshore Assets. Offshore Technology Conference 2020, Houston, Texas, USA, doi: 10.4043/30754-MS

Jarvis R, Farinha A, Kovac M, Cegla F. (2018). NDE sensor delivery using unmanned aerial vehicles. Insight - Non-Destructive Testing and Condition Monitoring, Volume 60, Number 8, August 2018, pp. 463-467(5), doi: 10.1784/insi.2018.60.8.463

Lin H, Smith J, Babarahmati K, Dehio N, Mistry M. (2018). A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 5421-5428, doi: 10.1109/ICRA.2018.8461202

Liu C, Kovac M. (2019). A tether-powered automatic scanning system for repetitive monitoring. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019 (Video submission)

Minami Shiguematsu Y, Brandao M, Hashimoto K, Takanishi A. (2018). Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 160-165, doi: 10.1109/HUMANOIDS.2018.8625015

Mirrazavi Salehian SS, Lin HC, Figueroa Fernandez NB, Smith J, Mistry M, Billard A. (2018). Transitioning with confidence during contact/non-contact scenarios. IROS 2018, In Proceedings of the Workshop on Towards Robots that Exhibit Manipulation Intelligence

Mourya R, Saafin W, Dragone M, Petillot Y. (2018). Ocean Monitoring Framework based on Compressive Sensing using Acoustic Sensor Networks. OCEANS 2018 MTS/IEEE Charleston, Charleston, SC, 2018, pp. 1-10, doi: 10.1109/OCEANS.2018.8604663

Mower C, Moura J, Davies A, Vijayakumar S. (2019). Modulating Human Input for Shared Autonomy in Dynamic Environments.
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), New Delhi, India, 2019, pp. 1-8, doi: 10.1109/RO-MAN46459.2019.8956304

Ng J, Petrick R. (2019). Incremental Learning of Planning Actions in Model-Based Reinforcement Learning. Proceedings of the Twenty-Eighth International Joint Conference on Artificial Intelligence Main track. Pages 3195-3201, doi: 10.24963/ijcai.2019/443

Nguyen H, Siddall R, Stephens B, Navarro-Rubio A, Kovac M. (2019). A Passively Adaptive Microspine Grapple for Robust, Controllable Perching. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea (South), 2019, pp. 80-87, doi: 10.1109/ROBOSOFT.2019.8722779

Nguyen H, Stephens B, Kovac M. (2019). Aerial inspection at close proximity of a vertical surface : a multi-modal mobility approach. IEEE International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, 2019 (Video submission)

Ortenzi V, Marturi N, Mistry M, Kuo J, Stolkin R. (2018). Vision-Based Framework to Estimate Robot Configuration and Kinematic Constraints. IEEE/ASME Transactions on Mechatronics, vol. 23, no. 5, pp. 2402-2412, Oct. 2018, doi: 10.1109/TMECH.2018.2865758

Pairet E, Ardon P, Mistry M, Petillot Y. (2019). Learning Generalizable Coupling Terms for Obstacle Avoidance via Low-Dimensional Geometric Descriptors. IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3979-3986, Oct. 2019, doi: 10.1109/LRA.2019.2930431

Pairet E, Ardon Ramirez P, Mistrt M, Petillot Y. (2019). Learning and Composing Primitive Skills for Dual-arm Manipulation. Towards Autonomous Robotic Systems. 20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part I, doi: 10.1007/978-3-030-23807-0_6

Petersen K, Napp N, Stuart-Smith R, Rus D, Kovac M. (2019). A review of collective robotic construction. Science Robotics, (28), doi: 10.1126/scirobotics.aau8479

Sareh P, Chermprayong P, Emmanuelli M, Nadeem H, Kovac M. (2018). Rotorigami: A rotary origami protective system for robotic rotorcraft. Science Robotics, (22), doi: 10.1126/scirobotics.aah5228

Siddall R, Kennedy G, Kovac M. (2018). High-Power Propulsion Strategies for Aquatic Take-off in Robotics. Robotics Research (pp. 5-20). Springer International Publishing

Simoens P, Dragone M, Saffiotti A. (2018). The Internet of Robotic Things A review of concept, added value and applications. International Journal of Advanced Robotic Systems, January 2018 (1), doi: 10.1177/1729881418759424

Smith J, Mistry M. (2020). Online Simultaneous Semi-Parametric Dynamics Model Learning. IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2039-2046, April 2020, doi: 10.1109/LRA.2020.2970987

Song D, Yang C, McGreavy C, Li Z. (2018). Recurrent Deterministic Policy Gradient Method for Bipedal Locomotion on Rough Terrain Challenge. 2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV), Singapore, 2018, pp. 311-318, doi: 10.1109/ICARCV.2018.8581309

Tiseo C, Vijayakumar S, Mistry M. (2019). Analytic Model for Quadruped Locomotion Task-Space Planning. 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, Germany, 2019, pp. 5301-530, doi: 10.1109/EMBC.2019.8857345

Tsiogkas N, Lane D. (2018). DCOP: Dubins Correlated Orienteering Problem Optimizing Sensing Missions of a Nonholonomic Vehicle Under Budget Constraints. IEEE Robotics and Automation Letters, vol. 3, no. 4, pp. 2926-2933, Oct. 2018, doi: 10.1109/LRA.2018.2847719

Tsiogkas N, Lane D. (2018). An Evolutionary Algorithm for Online, Resource-Constrained, Multivehicle Sensing Mission Planning. IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1199-1206, April 2018, doi: 10.1109/LRA.2018.2794578

Tzoumanikas D, Li W, Grimm M, Zhang K, Kovac M, Leutenegger S. (2019). Fully autonomous micro air vehicle flight and landing on a moving target using visual-inertial estimation and model-predictive control. J Field Robotics. 2019; 36: 49– 77, doi: 10.1002/rob.21821

Xin G, Lin H, Smith J, Cebe O, Mistry M. (2018). A Model-Based Hierarchical Controller for Legged Systems Subject to External Disturbances. 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 4375-4382, doi: 10.1109/ICRA.2018.8461172

Yang Y, Merkt W, Ivan V, Vijayakumar S. (2018). Planning in Time-Configuration Space for Efficient Pick-and-Place in Non-Static Environments with Temporal Constraints. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 1-9, doi: 10.1109/HUMANOIDS.2018.8624989

Yuan K, Li Z. (2018). An Improved Formulation for Model Predictive Control of Legged Robots for Gait Planning and Feedback Control. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 1-9, doi: 10.1109/IROS.2018.8594309

Yuan K, Chatzinikolaidis I, Li Z. (2019). Bayesian Optimization for Whole-Body Control of High-Degree-of-Freedom Robots Through Reduction of Dimensionality. IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2268-2275, July 2019, doi: 10.1109/LRA.2019.2901308

Zeestraten M, Havoutis I, Calinon S. (2018). Programming by Demonstration for Shared Control With an Application in Teleoperation. IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1848-1855, July 2018, doi: 10.1109/LRA.2018.2805105

Zeestraten MJA, Havoutis I, Calinon S. (2018). Programming by Demonstration for Shared Control With an Application in Teleoperation. IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 1848-1855, July 2018, doi: 10.1109/LRA.2018.2805105

Zhang K, Chermprayong P, Tzoumanikas D, Li W, Grimm M, Smentoch M, ... Kovac M. (2019). Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots. Journal of Field Robotics, (1), doi: 10.1002/rob.21840

Zhang K, Zhu Y, Lou C, Zheng P, Kovac M. (2019). A Design and Fabrication Approach for Foldable Soft Robotic Arms Using 3D Printed Origami Skeletons. 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), Seoul, Korea (South), 2019, pp. 821-827, doi: 10.1109/ROBOSOFT.2019.8722719

Zimroz R, Hutter M, Mistry M, Stefaniak P, Walas K, Wodecki J. (2019). Why Should Inspection Robots be used in Deep Underground Mines? Proceedings of the 27th International Symposium on Mine Planning and Equipment Selection - MPES 2018 (pp. 497-507). Springer International Publishing, doi: 10.1007/978-3-319-99220-4_42

Zufferey R, Ancel A, Raposo C, Armanini S, Farinha A, Siddall R, ... Kovac M. (2019). SailMAV: Design and Implementation of a Novel Multi-Modal Flying Sailing Robot. IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2894-2901, July 2019, doi: 10.1109/LRA.2019.2921507

Zufferey R, Ancel A, Farinha A, Siddall R, Armanini S, Nasr M, ... Kovac M. (2019). Consecutive aquatic jump-gliding with water-reactive fuel. Science Robotics, Vol. 4, Issue 34, doi: 10.1126/scirobotics.aax7330

Capability Demonstrations:

ORCA is committed to showing stakeholders the progress being made across its Research Themes via regular agile demonstrations which contribute to the Capability Challenges laid out at the start of the project.

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