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2021

Experimental Robotics - The 17th International Symposium, ISER 2020, La Valletta, Malta, November 9-12, 2020 (postponed to 2021)Bruno Siciliano, Cecilia Laschi, Oussama Khatib, editors, Volume 19 of Springer Proceedings in Advanced Robotics, Springer, 2021. [doi]

2020

Proceedings of the 2018 International Symposium on Experimental Robotics, ISER 2018, Buenos Aires, Argentina, November 5-8, 2018Jing Xiao 0001, Torsten Kröger, Oussama Khatib, editors, Volume 11 of Springer Proceedings in Advanced Robotics, Springer, 2020. [doi]

Ori-Vent: Design and Prototyping of Accessible and Portable Origami-Inspired VentilatorsAbudula Aihaitijiang, Shou-Shan Chiang, Erik H. Skorina, Cagdas D. Onal. iser 2021: 126-136 [doi]

Simulation, Learning and Control Methods to Improve Robotic Vegetable HarvestingSimon Birrell, Fumiya Iida. iser 2021: 185-197 [doi]

Sampling Training Data for Continual Learning Between Robots and the CloudSandeep Chinchali, Evgenya Pergament, Manabu Nakanoya, Eyal Cidon, Edward Zhang, Dinesh Bharadia, Marco Pavone, Sachin Katti. iser 2021: 296-308 [doi]

BAXTER: Bi-Modal Aerial-Terrestrial Hybrid Vehicle for Long-Endurance Versatile MobilityHyungho Chris Choi, Inhwan Wee, Micah Corah, Sahand Sabet, Taeyeon Kim, Thomas Touma, David Hyunchul Shim, Ali-akbar Agha-mohammadi. iser 2021: 60-72 [doi]

Towards a Robotically Steerable System for High Dose Rate BrachytherapyNancy Joanna Deaton, Yash Chitalia, Pretesh Patel, Jaydev P. Desai. iser 2021: 233-244 [doi]

Incorporating Noise into Adaptive SamplingChristopher E. Denniston, Aravind Kumaraguru, David A. Caron, Gaurav S. Sukhatme. iser 2021: 198-208 [doi]

Experimental Validation of Energy-Optimal Turning Radii for Skid-Steer RoversMeysam Effati, Jean-Sebastien Fiset, Krzysztof Skonieczny. iser 2021: 402-410 [doi]

Experimental Evaluation of a Hierarchical Operating Framework for Ground Robots in AgricultureStuart Eiffert, Nathan D. Wallace, He Kong, Navid Pirmarzdashti, Salah Sukkarieh. iser 2021: 151-160 [doi]

A Recurrent Neural Network Approach to Roll Estimation for Needle SteeringMaxwell Emerson, James M. Ferguson, Tayfun Efe Ertop, Margaret Rox, Josephine Granna, Michael Lester, Fabien Maldonado, Erin A. Gillaspie, Ron Alterovitz, Robert J. Webster, Alan Kuntz. iser 2021: 334-342 [doi]

Nonlinear Model Predictive Control for Formations of Multi-Rotor Micro Aerial Vehicles: An Experimental ApproachI. Kagan Erunsal, R. Ventura, Alcherio Martinoli. iser 2021: 449-461 [doi]

Crowd-Driven Mapping, Localization and PlanningTingxiang Fan, Dawei Wang, Wenxi Liu, Jia Pan. iser 2021: 354-368 [doi]

Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial RobotsKshitij Goel, Wennie Tabib, Nathan Michael. iser 2021: 436-448 [doi]

Kinesthetic Curiosity: Towards Personalized Embodied Learning with a Robot Tutor Teaching Programming in Mixed RealityThomas R. Groechel, Roxanna Pakkar, Roddur Dasgupta, Chloe Kuo, Haemin Lee, Julia Cordero, Kartik Mahajan, Maja J. Mataric. iser 2021: 245-252 [doi]

A New Conversion Method to Evaluate the Hazard Potential of Collaborative Robots in Free CollisionsSebastian Herbster, Roland Behrens, Norbert Elkmann. iser 2021: 222-232 [doi]

A New Approach to Estimate the Apparent Mass of Collaborative Robot ManipulatorsSebastian Herbster, Roland Behrens, Norbert Elkmann. iser 2021: 211-221 [doi]

Sensing Soft Robot Shape Using IMUs: An Experimental InvestigationJosie Hughes, Francesco Stella, Cosimo Della Santina, Daniela Rus. iser 2021: 543-552 [doi]

Learning to Generate Cost-to-Go Functions for Efficient Motion PlanningJinwook Huh, Galen Xing, Ziyun Wang, Volkan Isler, Daniel D. Lee. iser 2021: 555-565 [doi]

Nonprehensile Riemannian Motion Predictive ControlHamid Izadinia, Byron Boots, Steven M. Seitz. iser 2021: 611-621 [doi]

CMPCC: Corridor-Based Model Predictive Contouring Control for Aggressive Drone FlightJialin Ji, Xin Zhou, Chao Xu 0001, Fei Gao. iser 2021: 37-46 [doi]

Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense FogAndrew Kramer, Christoffer Heckman. iser 2021: 3-16 [doi]

Tactile-Based Self-supervised Pose Estimation for Robust GraspingPadmaja Kulkarni, Jens Kober, Robert Babuska. iser 2021: 277-284 [doi]

Multi-sensory Integration in a Quantum-Like Robot Perception ModelDavide Lanza, Paolo Solinas, Fulvio Mastrogiovanni. iser 2021: 502-509 [doi]

Design and Experimental Evaluation of Distributed Cooperative Transportation of Cable Suspended Payloads with Micro Aerial VehiclesGuanrui Li, Giuseppe Loianno. iser 2021: 28-36 [doi]

Characterization of Compliant Parallelogram Links for 3D-Printed Delta ManipulatorsPragna Mannam, Oliver Kroemer, Fatma Zeynep Temel. iser 2021: 75-84 [doi]

High-Bandwidth Nonlinear Control for Soft Actuators with Recursive Network ModelsSarah Aguasvivas Manzano, Patricia Xu, Khoi Ly, Robert F. Shepherd, Nikolaus Correll. iser 2021: 589-599 [doi]

Composing Pick-and-Place Tasks by Grounding LanguageOier Mees, Wolfram Burgard. iser 2021: 491-501 [doi]

Robust Vision-Based Pose Correction for a Robotic Manipulator Using Active MarkersLukas Meyer, Klaus H. Strobl, Rudolph Triebel. iser 2021: 533-542 [doi]

Sailing a Boat Through a Macroscopic Smart-Fluid Composed of a Robot SwarmPaul Motter, Zachary Hoover, Michael Otte. iser 2021: 424-435 [doi]

Toward High Power-to-Weight Ratio Electro-hydrostatic Actuators for RobotsTakahiro Nakanishi, Mitsuo Komagata, Ko Yamamoto 0001, Yoshihiko Nakamura. iser 2021: 116-125 [doi]

Within-Hand Manipulation Planning and Control for Variable Friction HandsGokul Narayanan, Joshua Amrith Raj, Abhinav Gandhi, Aditya A. Gupte, Adam J. Spiers, Berk Çalli. iser 2021: 600-610 [doi]

RAPID: An Algorithm for Quick Replanning Under Changed Dynamical ConstraintsSharan Nayak, Michael W. Otte. iser 2021: 576-588 [doi]

Distributed Heterogeneous Multi-robot Source Seeking Using Information Based Sampling with Visual RecognitionCarlos Nieto-Granda, Shenghye Wang, Vikas Dhiman, John G. Rogers III, Henrik I. Christensen. iser 2021: 462-471 [doi]

A Soft Robotic Cover with Dual Thermal Display and Sensing CapabilitiesYukiko Osawa, Abderrahmane Kheddar. iser 2021: 253-262 [doi]

Monte-Carlo Localization on Metal Plates Based on Ultrasonic Guided WavesOthmane-Latif Ouabi, Pascal Pomarede, Matthieu Geist, Nico F. Declercq, Cédric Pradalier. iser 2021: 345-353 [doi]

Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular MediaRadhen Patel, Rui Ouyang, Branden Romero, Edward H. Adelson. iser 2021: 105-115 [doi]

Probabilistic Representation of Objects and Their Support RelationsFabian Paus, Tamim Asfour. iser 2021: 510-519 [doi]

Online Soil Classification Using a UAS Sensor Emplacement SystemAdam Plowcha, Jacob Hogberg, Carrick Detweiler, Justin M. Bradley. iser 2021: 174-184 [doi]

MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboard Robotic PerceptionBenjamin Ramtoula, Adam Caccavale, Giovanni Beltrame, Mac Schwager. iser 2021: 520-532 [doi]

The DARPA SubT Urban Circuit Mapping Dataset and Evaluation MetricJohn G. Rogers, Arthur Schang, Carlos Nieto-Granda, John Ware, John Carter, Jonathan Fink, Ethan Stump. iser 2021: 391-401 [doi]

Towards a Reliable Heterogeneous Robotic Water Quality Monitoring System: An Experimental AnalysisMonika Roznere, Mingi Jeong, Lily Maechling, Nicole K. Ward, Jennifer A. Brentrup, Bethel G. Steele, Denise A. Bruesewitz, Holly A. Ewing, Kathleen C. Weathers, Kathryn L. Cottingham, Alberto Quattrini Li. iser 2021: 139-150 [doi]

Using Nonlinear Normal Modes for Execution of Efficient Cyclic Motions in Articulated Soft RobotsCosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schäffer. iser 2021: 566-575 [doi]

Playing with Food: Learning Food Item Representations Through Interactive ExplorationAmrita Sawhney, Steven Lee, Kevin Zhang, Manuela Veloso, Oliver Kroemer. iser 2021: 309-322 [doi]

Multirotor Docking with an Airborne PlatformAjay Shankar, Sebastian G. Elbaum, Carrick Detweiler. iser 2021: 47-59 [doi]

Correction to: Experimental RoboticsBruno Siciliano, Cecilia Laschi, Oussama Khatib. iser 2021: 1 [doi]

Hybrid Wheel-Leg Locomotion in Rough TerrainBhanuka Silva, Uvindu Perera, Thilina Dulantha Thilakarathna, Isuru Athapattu, Peshala Jayasekara, Thilina Lalitharatne, Navinda Kottege, Tirthankar Bandyopadhyay. iser 2021: 95-104 [doi]

Ensuring Stable and Transparent High Stiffness Haptic Interaction Using Successive Force Augmention with Time Domain Passivity ApproachHarsimran Singh, Michael Rothammer, Chan-Il Lee, Thomas Hulin, Jee-Hwan Ryu, Christian Ott. iser 2021: 263-273 [doi]

Data-Driven Design of Energy-Shaping Controllers for Swing-Up Control of Underactuated RobotsWankun Sirichotiyakul, Aykut Cihan Satici. iser 2021: 323-333 [doi]

LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied EnvironmentsAndrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi. iser 2021: 380-390 [doi]

Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging ConditionsRohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi. iser 2021: 161-173 [doi]

Swarm of Inexpensive Heterogeneous Micro Aerial VehiclesDinesh Thakur, Yuezhan Tao, Rebecca Li, Alex Zhou, Alex Kushleyev, Vijay Kumar 0001. iser 2021: 413-423 [doi]

Experimental Flights of Adaptive Patterns for Clouds Exploration with UAVsTitouan Verdu, Nicolas Maury, Pierre Narvor, Florian Seguin, Gregory Roberts, Fleur Couvreux, Grégoire Cayez, Murat Bronz, Gautier Hattenberger, Simon Lacroix. iser 2021: 17-27 [doi]

Learning Visual Servo Policies via Planner CloningUlrich Viereck, Kate Saenko, Robert Platt Jr.. iser 2021: 285-295 [doi]

Visual Semantic Mapping and Localization Using Parameterized Road LanesSheng Yang, Yiming Chen 0001, Mingyang Li. iser 2021: 369-379 [doi]

L.U.N.A. - A Laser-Mapping Unidirectional Navigation ActuatorJasper Zevering, Anton Bredenbeck, Fabian Arzberger, Dorit Borrmann, Andreas Nüchter. iser 2021: 85-94 [doi]

2018

Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid HydraKo Yamamoto 0001, Tianyi Ko, Kazuya Murotani, Yoshihiko Nakamura. iser 2020: 619-628 [doi]

The Blackbird Dataset: A Large-Scale Dataset for UAV Perception in Aggressive FlightAmado Antonini, Winter Guerra, Varun Murali, Thomas Sayre-McCord, Sertac Karaman. iser 2020: 130-139 [doi]

Real-Time Human-Robot Communication for Manipulation Tasks in Partially Observed EnvironmentsJacob Arkin, Rohan Paul, Daehyung Park, Subhro Roy, Nicholas Roy, Thomas M. Howard. iser 2020: 448-460 [doi]

Autonomous Drone Cinematographer: Using Artistic Principles to Create Smooth, Safe, Occlusion-Free Trajectories for Aerial FilmingRogerio Bonatti, Yanfu Zhang, Sanjiban Choudhury, Wenshan Wang, Sebastian Scherer. iser 2020: 119-129 [doi]

6DoF Pose Estimation for Industrial Manipulation Based on Synthetic DataManuel Brucker, Maximilian Durner, Zoltán-Csaba Márton, Ferenc Bálint-Benczédi, Martin Sundermeyer, Rudolph Triebel. iser 2020: 675-684 [doi]

Generating Expressive Light Signals for Appearance-Constrained RobotsElizabeth Cha, Naomi T. Fitter, Yunkyung Kim, Terrence Fong, Maja J. Mataric. iser 2020: 595-607 [doi]

Understanding and Transfer of Human Skills in Robotics Using Deep Learning and Musculoskeletal ModelingDipti Chaudhari, Kunj Bhagat, Emel Demircan. iser 2020: 45-55 [doi]

Month-Long, In-Home Socially Assistive Robot for Children with Diverse NeedsCaitlyn Clabaugh, Shomik Jain, Balasubramanian Thiagarajan, Zhonghao Shi, Leena Mathur, Kartik Mahajan, Gisele Ragusa, Maja J. Mataric. iser 2020: 608-618 [doi]

Robust Vision-Based Autonomous Navigation, Mapping and Landing for MAVs at NightShreyansh Daftry, Manash Das, Jeff Delaune, Cristina Sorice, Robert Hewitt, Shreetej Reddy, Daniel Lytle, Elvin Gu, Larry H. Matthies. iser 2020: 232-242 [doi]

Hybrid Model Predictive Control for Crosswind Stabilization of Hybrid AirshipsJulian F. M. Foerster, Mohamed K. Helwa, Xintong Du, Angela P. Schoellig. iser 2020: 499-510 [doi]

Experimental Studies of Contact Space Model for Multi-surface Collisions in Articulated Rigid-Body SystemsShameek Ganguly, Oussama Khatib. iser 2020: 425-436 [doi]

Model Refinement for Terrain Responsive Planning on a Dynamic Running QuadrupedMario Harper, David Balbuena, Justin Larson, Camilo Ordonez, Gordon Erlebacher, Emmanuel G. Collins Jr., Jonathan E. Clark. iser 2020: 645-654 [doi]

Experimental Validation of an Energy Constraint for a Safer Collaboration with RobotsLucas Joseph, Vincent Padois, Guillaume Morel. iser 2020: 575-583 [doi]

Real-Time Unlabeled Marker Pose Estimation via Constrained Extended Kalman FilterVladimir Joukov, Jonathan F. S. Lin, Kevin Westermann, Dana Kulic. iser 2020: 762-771 [doi]

Scaling Simulation-to-Real Transfer by Learning Composable Robot SkillsRyan Julian, Eric Heiden, Zhanpeng He, Hejia Zhang, Stefan Schaal, Joseph J. Lim, Gaurav S. Sukhatme, Karol Hausman. iser 2020: 267-279 [doi]

Actuator Transparency and the Energetic Cost of ProprioceptionGavin D. Kenneally, Wei-Hsi Chen, Daniel E. Koditschek. iser 2020: 485-495 [doi]

UAV-Based Automated Labeling of Training Data for Online Water and Land DifferentiationCurtis Klein, Trevor Speckman, Thomas Medeiros, Derek Eells, Elizabeth Basha. iser 2020: 106-116 [doi]

Contact-Consistent Disturbance Observer for Floating-Base RobotsHosang Lee, Yisoo Lee, Jaeheung Park. iser 2020: 475-484 [doi]

Navigation in the Service of Enhanced Pose EstimationTravis Manderson, Ran Cheng, David Meger, Gregory Dudek. iser 2020: 687-701 [doi]

Sim-to-Real Transferable Object Classification Through Touch-Based Continuum ManipulationHuitan Mao, Junius Santoso, Cagdas D. Onal, Jing Xiao 0001. iser 2020: 280-289 [doi]

Unified Spatiotemporal Calibration of Monocular Cameras and Planar LidarsJordan Marr, Jonathan Kelly. iser 2020: 781-790 [doi]

External Force Field Modeling for Autonomous Surface VehiclesJason Moulton, Nare Karapetyan, Alberto Quattrini Li, Ioannis M. Rekleitis. iser 2020: 328-338 [doi]

On-Line Coordination Tasks for Multi-robot Systems Using Adaptive Informative SamplingCarlos Nieto-Granda, John G. Rogers III, Nicholas Fung, Stephanie Kemna, Henrik I. Christensen, Gaurav S. Sukhatme. iser 2020: 318-327 [doi]

Simultaneous Calibration and MappingChristian Nissler, Maximilian Durner, Zoltán-Csaba Márton, Rudolph Triebel. iser 2020: 791-800 [doi]

FastCal: Robust Online Self-calibration for Robotic SystemsFernando Nobre, Christoffer R. Heckman. iser 2020: 737-747 [doi]

Characterization and Traversal of Pliable Vegetation for Robot NavigationCamilo Ordonez, Ryan Alicea, Brandon Rothrock, Kyle Ladyko, Jeremy Nash, Rohan Thakker, Shreyansh Daftry, Mario Harper, Emmanuel G. Collins Jr., Larry H. Matthies. iser 2020: 293-304 [doi]

Precision UAV Landing in Unstructured EnvironmentsKevin Pluckter, Sebastian Scherer. iser 2020: 177-187 [doi]

Interactive Learning with Corrective Feedback for Policies Based on Deep Neural NetworksRodrigo Pérez-Dattari, Carlos Celemin, Javier Ruiz-del-Solar, Jens Kober. iser 2020: 353-363 [doi]

Design of Damping Matrices for Cartesian Impedance Control of Robotic ManipulatorsCarlos Saldarriaga, Nilanjan Chakraborty, Imin Kao. iser 2020: 665-674 [doi]

Efficient Alignment of Visual-Inertial MapsKourosh Sartipi, Stergios I. Roumeliotis. iser 2020: 712-724 [doi]

Motion Planning for Manipulators in Unknown Environments with Contact Sensing UncertaintyBrad Saund, Dmitry Berenson. iser 2020: 461-474 [doi]

Consistent Multi-robot Object Matching via QuickMatchZachary Serlin, Brandon Sookraj, Calin Belta, Roberto Tron. iser 2020: 751-761 [doi]

In-Air Exchange of Small Payloads Between Multirotor Aerial SystemsAjay Shankar, Sebastian G. Elbaum, Carrick Detweiler. iser 2020: 511-523 [doi]

View Planning and Navigation Algorithms for Autonomous Bridge Inspection with UAVsPrajwal Shanthakumar, Kevin Yu, Mandeep Singh, Jonah Orevillo, Eric Bianchi, Matthew Hebdon, Pratap Tokekar. iser 2020: 201-210 [doi]

A Study of Reaching Motions for Collaborative Human-Robot InteractionSara Sheikholeslami, Gilwoo Lee, Justin W. Hart, Siddhartha S. Srinivasa, Elizabeth A. Croft. iser 2020: 584-594 [doi]

Fast and Agile Vision-Based Flight with Teleoperation and Collision Avoidance on a MultirotorAlexander Spitzer, Xuning Yang, John Yao, Aditya Dhawale, Kshitij Goel, Mosam Dabhi, Matthew Collins, Curtis Boirum, Nathan Michael. iser 2020: 524-535 [doi]

Mathematical Models for Physical Interactions of Robots in Planar EnvironmentsAdam Stager, Herbert G. Tanner. iser 2020: 549-558 [doi]

Safe Terrain Probing Method for Multi-legged Robots Operating on Brittle SurfacesEranda Tennakoon, Navinda Kottege, Thierry Peynot, Jonathan Roberts. iser 2020: 305-317 [doi]

Search and Rescue Under the Forest Canopy Using Multiple UASYulun Tian, Katherine Liu, Kyel Ok, Loc Tran, Danette Allen, Nicholas Roy, Jonathan P. How. iser 2020: 140-152 [doi]

Adapting Control Policies from Simulation to Reality Using a Pairwise LossUlrich Viereck, Xingchao Peng, Kate Saenko, Robert Platt Jr.. iser 2020: 256-266 [doi]

PoseFusion: Dense RGB-D SLAM in Dynamic Human EnvironmentsTianwei Zhang, Yoshihiko Nakamura. iser 2020: 772-780 [doi]

A Unified 3D Mapping Framework Using a 3D or 2D LiDARWeikun Zhen, Sebastian Scherer. iser 2020: 702-711 [doi]

Path Planning for Within-Hand Manipulation over Learned Representations of Safe StatesBerk Çalli, Andrew Kimmel, Kaiyu Hang, Kostas E. Bekris, Aaron M. Dollar. iser 2020: 437-447 [doi]

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