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Publications

Journal

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  1. A. Duan, W. Liuchen, J. Wu, R. Camoriano, L. Rosasco, and D. Navarro-Alarcon. Learning Rhythmic Trajectories with Geometric Constraints for Laser-Based Skincare Procedures. (preprint) [pdf]

  2. B. Zhang, H. Zhi, J. G. Romero, and D. Navarro-Alarcon. Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication. (preprint) [pdf]

  3. J. G. Romero and D. Navarro-Alarcon. Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs. (preprint) [pdf]

  4. H. Chen, S. Huo, M. Muddassir, H.-Y. Lee, A. Duan, P. Zheng, H. Pan, D. Navarro-Alarcon. PSO-Based Optimal Coverage Path Planning for Surface Defect Inspection of 3C Components with a Robotic Line Scanner. (preprint) [pdf]

  5. P. Zhou, P. Zheng, J. Qi, C. Li, H.-Y. Lee, A. Duan, L. Lu, Z. Li, L. Hu, D. Navarro-Alarcon. Reactive Human-Robot Collaborative Manipulation of Deformable Linear Objects Using a New Topological Latent Control Model. (preprint) [pdf]

  6. S. Huo, A. Duan, L. Han, L. Hu, H. Wang and D. Navarro-Alarcon. Efficient Robot Skill Learning with Imitation from a Single Video for Contact-Rich Fabric Manipulation. (preprint) [pdf]

  7. A. Duan, C. Yang, J. Zhao, S. Huo, P. Zhou, W. Ma, Y. Zheng and D. Navarro-Alarcon. Safe Learning by Constraint-Aware Policy Optimization for Robotic Ultrasound Imaging. (preprint) [pdf]

  8. A. Duan, S. Huo, H.-Y. Lee, P. Zhou, J. G. Romero, C. Yang and D. Navarro-Alarcon. Robust Grasping by Bimanual Robots with Stable
    Parametrization-Based Contact Servoing. (preprint) [pdf]

  9. S. Huo, F. Wang, L. Hu, P. Zhou, J. Zhu, H. Wang and D. Navarro-Alarcon. A Dual-Arm Collaborative Framework for Dexterous Manipulation in Unstructured Environments with Contrastive Planning. (preprint) [pdf]

  10. J. Qi, D. Li, Y. Gao, P. Zhou and D. Navarro-Alarcon. Model Predictive Manipulation of Compliant Objects with Multi-Objective Optimizer and Adversarial Network for Occlusion Compensation. (preprint) [pdf]

  11. J. Qi, W. Ma, D. Navarro-Alarcon, H. Gao, G. Ma. Adaptive Shape Servoing of Elastic Rods using Parameterized Regression Features and Auto-Tuning Motion Controls, (preprint). [pdf]

  12. P. Zhou, J. Qi, A. Duan, S. Huo, Z. Wu and D. Navarro-Alarcon. Imitating Tool-based Garment Folding from a Single Visual Observation Using Hand-Object Graph Dynamics. IEEE Transactions on Industrial Informatics (T-II) (accepted) [pdf]

  13. B. Zhang, H. Zhi, J. G. Romero, L. Labazanova, A. Duan, X. Li, and D. Navarro-Alarcon. Fourier-Based Multi-Agent Formation Control to Track Evolving Closed Boundaries. IEEE Transactions on Circuits and Systems I: Regulate Papers (T-CAS) (in press), 2023.  [pdf]

  14. H.-Y. Lee, P. Zhou, B. Zhang, L. Qiu, A. Duan, J. Tang, T. L. Lam, and D. Navarro-Alarcon. A Distributed Dynamic Framework to Allocate Collaborative Tasks Based on Capability Matching in Heterogeneous Multi-Robot Systems. IEEE Transactions on Cognitive and Developmental Systems (T-CDS) (in press), 2023. [pdf]

  15. H.-Y. Lee, P. Zhou, A. Duan, J. Wang, V. Wu, and D. Navarro-Alarcon. A Multi-Sensor Interface to Improve the Learning Experience in Arc Welding Training Tasks. IEEE Transactions on Human-Machine Systems (T-HMS) (in press), 2023 [pdf]

  16. L. Labazanova, S. Peng, L. Qiu, H.-Y. Lee, T. Nanayakkara, and D. Navarro-Alarcon. Self-Reconfigurable Soft-Rigid Mobile Agent with Variable Stiffness and Adaptive Morphology. IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 3, pp. 1643-1650, 2023 [pdf]

  17. P. Zhou, P. Zheng, J. Qi, C. Li, A. Duan, M. Xu, V. Wu, and D. Navarro-Alarcon. Neural Reactive Path Planning with Riemannian Motion Policies for Robotic Silicone Sealing. Robotics and Computer-Integrated Manufacturing, vol. 81, pp. 102518, 2023 [pdf]

  18. M. Muddassir, G. Limbert, B. Zhang, A. Duan, J.-J. Tan and D. Navarro-Alarcon. Model Predictive Thermal Dose Control of a Robotic Laser System to Automate Skin Photorejuvenation, IEEE/ASME Transactions on Mechatronics (T-MECH) (in-press), 2022 [pdf]

  19. W. Ma, B. Zhang, L. Han, S. Huo, H. Wang and D. Navarro-Alarcon. Action Planning for Packing Long Linear Elastic Objects into Compact Boxes with Bimanual Robotic Manipulation. IEEE/ASME Transactions on Mechatronics (T-MECH) (in-press), 2022 [pdf]

  20. M. Victorova, H. Lau, T. Lee, D. Navarro-Alarcon and Y. Zheng. Reliability of Robotic Ultrasound Scanning for Scoliosis Assessment in Comparison with Manual Scanning. International Journal of Medical Robotics and Computer-Assisted Surgery (IJMRCAS), e2468, 2022 [pdf]

  21. L. Hu, A. Duan, M. Li, A. Cherubini, L. Li and D. Navarro-Alarcon. Paint with the Sun: A Thermal-Vision Guided Robot to Harness Solar Energy for Heliography, IEEE Sensors Journal, vol. 22, no. 18, pp. 18130-18142, 2022 [pdf]

  22. J. G. Romero, D. Navarro-Alarcon, E. Nuno, and H. Que. A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances, IEEE Control Systems Letters (L-CSS), vol. 7, pp. 85-90, 2022 [pdf]

  23. A. Duan, M. Victorova, J. Zhao, Y. Sun, Y. Zheng and D. Navarro-Alarcon. Ultrasound-Guided Assistive Robots for Scoliosis Assessment with Optimization-based Control and Variable Impedance, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 3, pp. 8106-8113, 2022 [pdf]

  24. L. Hu, D. Navarro-Alarcon, A. Cherubini, M. Li and L. Li. On Radiation-Based Thermal Servoing: New Models, Controls and Experiments, IEEE Transactions on Robotics (T-RO), vol. 38, no. 3, pp. 1945-1958, 2022. [pdf]

  25. M. Victorova, M. K.-S. Lee, D. Navarro-Alarcon and Y. Zheng. Follow the Curve: Robotic Ultrasound Navigation with Learning-Based Localization of Spinous Processes for Scoliosis Assessment, IEEE Access, vol. 10, pp. 40216-40229, 2022 [pdf]

  26. S. Huo, A. Duan, C. Li, P. Zhou, W. Ma, H. Wang and D. Navarro-Alarcon. Keypoint-Based Planar Bimanual Shaping of Deformable Linear Objects Under Environmental Constraints With Hierarchical Action Framework, IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 2, pp. 5222-5229, 2022 [pdf]

  27. O. Zahra, S. Tolu, P. Zhou, A. Duan and D. Navarro-Alarcon. A Bio-Inspired Mechanism for Learning Robot Motion From Mirrored Human Demonstrations, Front. Neurorobotics, vol. 16, 2022 [pdf]

  28. M. Muddassir, D. Gomez, S. Chen, L. Hu and D. Navarro-Alarcon. Robotics Meets Cosmetic Dermatology: Development of a Novel Vision-Guided System for Skin Photo-Rejuvenation, IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 27, no. 2, pp. 666-677, 2022. [pdf]

  29. J. Zhu, A. Cherubini, C. Dune, D. Navarro-Alarcon, F. Alambeigi, D. Berenson, F. Ficuciello, K. Harada, X. Li, J. Pan and W. Yuan. Challenges and Outlook in Robotic Manipulation of Deformable Objects, IEEE Robotics and Automation Magazine (RA-M), vol. 29, no. 3, pp. 67-77, 2022 [pdf]

  30. M. Muddassir, G. Limbert, and D. Navarro-Alarcon. Development of a Multi-layer Model of Skin Subjected to Pulsed Laser Irradiation to Optimise Thermal Stimulation in Photorejuvenation Procedure, Computer Methods and Programs in Biomedicine, vol. 216, no. 106653, 2022 [pdf]

  31. S. Huo, B. Zhang, M. Muddassir, D.T.W. Chik and D. Navarro-Alarcon. A Sensor-Based Robotic Line Scan System with Adaptive ROI for Inspection of Defects over Convex Free-form Specular Surfaces, IEEE Sensors Journal, vol. 22, no. 3, pp. 2782-2792, 2022. [pdf]

  32. J. Qi, G. Ma, J. Zhu, P. Zhou, Y. Lyu, H. Zhang, and D. Navarro-Alarcon. Contour Moments Based Manipulation of Composite Rigid-Deformable Objects with Finite Time Model Estimation and Shape/Position Control, IEEE/ASME Transactions on Mechatronics (T-MECH), 2021 [pdf]

  33. J. Qi, G. Ma, P. Zhou, H. Zhang, Y. Lyu, and D. Navarro-Alarcon. Towards Latent Space Based Manipulation of Elastic Rods using Autoencoder Models and Robust Centerline Extractions, Advanced Robotics (ADV ROBOT), pp. 1-15, 2021 [pdf]

  34. J. Zhu, D. Navarro-Alarcon, R. Passama and A. Cherubini. Vision-based Manipulation of Deformable and Rigid Objects Using Subspace Projections of 2D Contours, Robotics and Autonomous Systems (RAS), vol. 142, pp. 103798, 2021. [pdf]

  35. P. Zhou, J. Zhu. S. Huo and D. Navarro-Alarcon. LaSeSOM: A Latent and Semantic Representation Framework for Soft Object Manipulation, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5381-5388, 2021. [pdf]

  36. O. Zahra, D. Navarro-Alarcon, and S. Tolu.  A Neurorobotic Embodiment for Exploring the Dynamical Interactions of a Spiking Cerebellar Model and a Robot Arm During Vision-based Manipulation Tasks. International Journal of Neural Systems (IJNS), vol. 32, no. 08, pp. 2150028, 2021 [pdf]

  37. M. Muddassir, S. Chan, D. Gomez and D. Navarro-Alarcon. Can, Can a Robot Outperform a Human Operator in Skin Photorejuvenation?  Cosmet Dermatol. 2021; 00: 1– 2. [pdf]

  38. P. Zhou, R. Peng, M. Xu, V. Wu and D. Navarro-Alarcon.  Path Planning with Automatic Seam Extraction over Point Cloud Models for Robotic Arc Welding, IEEE Robotics and Automation Letters (RA-L), vol. 6, no. 3, pp. 5002–5009, 2021. [pdf]

  39. O. Zahra, S. Tolu and D. Navarro-Alarcon. Differential Mapping Spiking Neural Network for Sensor-Based Robot Control, Bioinspiration & Biomimetics, vol. 16, no. 3, pp. 036008 2021. [pdf]

  40. A. Cherubini and D. Navarro-Alarcon. Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities, Frontiers in Neurorobotics, vol. 14, pp. 113, 2021. [pdf]

  41. D. Navarro-Alarcon, J. Qi, J. Zhu and A. Cherubini. A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control, Frontiers in Neurorobotics, vol. 14, pp. 59, 2020. [pdf]

  42. M. Tirindelli, M. Victorova, J. Esteban, S. T. Kim, D. Navarro-Alarcon, Y. P. Zheng and N. Navab. Force-Ultrasound Fusion: Bringing Spine Robotic-US to the Next "Level", IEEE Robotics and Automation Letters (RA-L), vol. 5, no. 4, pp. 5661–5668, 2020. [pdf]

  43. H.M. Yip, Z. Wang, D. Navarro-Alarcon, P. Li, T.H. Cheung, C. Greiffenhagen and Y.-H. Liu. A Collaborative Robotic Uterine Positioning System for Laparoscopic Hysterectomy: Design, Modeling and Experiments. International Journal of Medical Robotics and Computer Assisted Surgery, vol 14, no. 4, pp. e2103, 2020. [pdf]

  44. D. Navarro-Alarcon, O. Zahra, C. Trejo, E. Olguin-Diaz and V. Parra-Vega. Computing Pressure-Deformation Maps for Braided Continuum Robots, Frontiers in Robotics and AI, vol. 6, pp. 1–4, 2019. [pdf]

  45. D. Navarro-Alarcon and Y.-H. Liu. Fourier-Based Shape Servoing: A New Feedback Method to Actively Deform Soft Objects into Desired 2-D Image Contours, IEEE Transactions on Robotics (T-RO), vol. 34, no. 1, 272–1279, 2018. [pdf]

  46. D. Navarro-Alarcon, S. Saini, T. Zhang, H. Chung, K. W. Ng, M. K. Chow, Y.-H. Liu Developing a Compact Robotic Needle Driver for MRI-Guided Breast Biopsy in Tight Environments. IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, 1648–1655, 2017. [pdf]

  47. Z. Wang, S.C. Lee, F. Zhong, D. Navarro-Alarcon, et al. Image-Based Trajectory Tracking of 4 DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker. IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, pp. 1586–1592, 2017. [pdf]

  48. D. Navarro-Alarcon, H.M. Yip, Z. Wang, Y.-H. Liu, F. Zhong, T. Zhang and P. Li. Automatic 3D Manipulation of Soft Objects by Robotic Arms with Adaptive Deformation Model. IEEE Transactions on Robotics (T-RO), vol. 32, no. 2, 429–441, 2016. [pdf]

  49. Z. Wang, H.M. Yip, D. Navarro-Alarcon, P. Li, Y.-H. Liu, D. Sun, H. Wang, T.K. Cheung. Design of a Novel Compliant Safe Joint with Multiple Working States. IEEE/ASME Transactions on Mechatronics (T-MECH), vol. 21, no. 2, pp. 1193–1198, 2016. [pdf]

  50. J.Y.K. Chan, I. Leung, D. Navarro-Alarcon, W. Lin, P. Li, D.L.Y. Lee, Y.-H. Liu, and M.C.F. Tong. Foot-Controlled Robotic-Enabled Endoscope Holder for Endoscopic Sinus Surgery: A Cadaveric Feasibility Study. The Laryngoscope, issn 1531–4995, 2015. [pdf]

  51. H.M. Yip, P. Li, D. Navarro-Alarcon, and Y.-H. Liu. Towards Developing a Robot Assistant for Uterus Positioning During Hysterectomy: System Design and Experiments. Journal of Robotics and Biomimetics, vol. 1, no. 1, pp. 1–11, 2015. [pdf]

  52. D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Energy Shaping Methods for Asymptotic Force Regulation of Compliant Mechanical Systems. IEEE Transactions on Control Systems Technology (T-CST), vol. 22, no. 6, pp. 2376–2383, 2014. [pdf]

  53. D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. On the Visual Deformation Servoing of Compliant Objects: Uncalibrated Control Methods and Experiments. International Journal of Robotics Research (IJRR), vol. 33, no. 11, pp. 1462–1480, 2014. [pdf]

  54. D. Navarro-Alarcon, Y.-H. Liu, J.G. Romero, and P. Li. Model-free Visually Servoed Deformation Control of Elastic Objects by Robot Manipulators. IEEE Transactions on Robotics (T-RO), vol. 29, no. 6, pp. 1457–1468, 2013. [pdf]

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