{"id":"https://openalex.org/W4412352791","doi":"https://doi.org/10.1109/tro.2025.3588453","title":"Nonrepetitive-Path Iterative Learning and Control for Human-Guided Robotic Operations on Unknown Surfaces","display_name":"Nonrepetitive-Path Iterative Learning and Control for Human-Guided Robotic Operations on Unknown Surfaces","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412352791","doi":"https://doi.org/10.1109/tro.2025.3588453"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2025.3588453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588453","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046356133","display_name":"Kithmi N.D. Widanage","orcid":"https://orcid.org/0000-0002-1933-9720"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kithmi N. D. Widanage","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1933-9720","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037388867","display_name":"Jingkang Xia","orcid":"https://orcid.org/0000-0003-0267-4490"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingkang Xia","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0003-0267-4490","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050831080","display_name":"Rizuwana Parween","orcid":"https://orcid.org/0000-0002-3843-9997"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rizuwana Parween","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3843-9997","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027356826","display_name":"Hareesh Godaba","orcid":"https://orcid.org/0000-0001-6600-8513"},"institutions":[{"id":"https://openalex.org/I43439940","display_name":"University of Southampton","ror":"https://ror.org/01ryk1543","country_code":"GB","type":"education","lineage":["https://openalex.org/I43439940"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Hareesh Godaba","raw_affiliation_strings":["Department of Mechanical Engineering, University of Southampton, Southampton, U.K"],"raw_orcid":"https://orcid.org/0000-0001-6600-8513","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Southampton, Southampton, U.K","institution_ids":["https://openalex.org/I43439940"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036922498","display_name":"Nicolas Herzig","orcid":"https://orcid.org/0000-0002-5845-2697"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nicolas Herzig","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-5845-2697","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005171161","display_name":"Romeo Glovnea","orcid":"https://orcid.org/0000-0003-2832-1749"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Romeo Glovnea","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032642266","display_name":"Deqing Huang","orcid":"https://orcid.org/0000-0002-8185-9030"},"institutions":[{"id":"https://openalex.org/I4800084","display_name":"Southwest Jiaotong University","ror":"https://ror.org/00hn7w693","country_code":"CN","type":"education","lineage":["https://openalex.org/I4800084"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Deqing Huang","raw_affiliation_strings":["School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China"],"raw_orcid":"https://orcid.org/0000-0002-8185-9030","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China","institution_ids":["https://openalex.org/I4800084"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082520195","display_name":"Yanan Li","orcid":"https://orcid.org/0000-0002-1443-2547"},"institutions":[{"id":"https://openalex.org/I162608824","display_name":"University of Sussex","ror":"https://ror.org/00ayhx656","country_code":"GB","type":"education","lineage":["https://openalex.org/I162608824"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanan Li","raw_affiliation_strings":["Department of Engineering and Design, University of Sussex, Brighton, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1443-2547","affiliations":[{"raw_affiliation_string":"Department of Engineering and Design, University of Sussex, Brighton, U.K","institution_ids":["https://openalex.org/I162608824"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6169,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.93088239,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"41","issue":null,"first_page":"4922","last_page":"4940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.856157660484314},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6506142616271973},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.548378050327301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5371786952018738},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5311718583106995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48464304208755493},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.43463706970214844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39393043518066406},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3550637364387512},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.344618558883667},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3387715220451355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29257437586784363},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19467008113861084}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.856157660484314},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6506142616271973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.548378050327301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5371786952018738},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5311718583106995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48464304208755493},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.43463706970214844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39393043518066406},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3550637364387512},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.344618558883667},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3387715220451355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29257437586784363},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19467008113861084},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2025.3588453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2025.3588453","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:eprints.soton.ac.uk:507129","is_oa":false,"landing_page_url":"http://doi.org/10.1109/TRO.2025.3588453>).","pdf_url":null,"source":{"id":"https://openalex.org/S4306401020","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:figshare.com:article/29352332","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/29352332","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3616454161","display_name":null,"funder_award_id":"U21A20169","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4065389682","display_name":null,"funder_award_id":"U1934221","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6587083863","display_name":"A Nuclear Decommissioning Manipulator with Novel Variable Impedance Actuator","funder_award_id":"EP/W016168/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1517060199","https://openalex.org/W1570119845","https://openalex.org/W1905389233","https://openalex.org/W1976912497","https://openalex.org/W1983591096","https://openalex.org/W1988919123","https://openalex.org/W2036754385","https://openalex.org/W2038386942","https://openalex.org/W2076234838","https://openalex.org/W2098013375","https://openalex.org/W2107949070","https://openalex.org/W2110128409","https://openalex.org/W2114446550","https://openalex.org/W2133193265","https://openalex.org/W2146396918","https://openalex.org/W2169440744","https://openalex.org/W2170545573","https://openalex.org/W2247230765","https://openalex.org/W2276112427","https://openalex.org/W2337181954","https://openalex.org/W2416176951","https://openalex.org/W2419360510","https://openalex.org/W2512427559","https://openalex.org/W2754133402","https://openalex.org/W2790458093","https://openalex.org/W2795550549","https://openalex.org/W2896460043","https://openalex.org/W2899345235","https://openalex.org/W2901230714","https://openalex.org/W2912698479","https://openalex.org/W2922464707","https://openalex.org/W3003587564","https://openalex.org/W3033003543","https://openalex.org/W3036090479","https://openalex.org/W3044681009","https://openalex.org/W3090129374","https://openalex.org/W3101033562","https://openalex.org/W3120405548","https://openalex.org/W3130510173","https://openalex.org/W3133499390","https://openalex.org/W3153329809","https://openalex.org/W3155877522","https://openalex.org/W3156869509","https://openalex.org/W3188486176","https://openalex.org/W3189002986","https://openalex.org/W4206477591","https://openalex.org/W4206540383","https://openalex.org/W4304140588","https://openalex.org/W4319874292","https://openalex.org/W4361011164","https://openalex.org/W4386478717","https://openalex.org/W4387415141","https://openalex.org/W4388877254","https://openalex.org/W4389666122","https://openalex.org/W4392978297","https://openalex.org/W4401417246"],"related_works":["https://openalex.org/W2761624296","https://openalex.org/W4386994694","https://openalex.org/W4388738109","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Automation":[0],"of":[1,25,82,147,150,182],"abrasive":[2],"machining":[3],"operations":[4,21,61],"(AMO)":[5],"has":[6],"become":[7],"a":[8,23,89,162,195],"challenging":[9],"aspect":[10],"in":[11,41],"the":[12,27,80,83,98,107,118,129,138,148,151,158],"remanufacturing":[13],"industry":[14],"where":[15,97],"it":[16],"is":[17,95,124,145,155,169,185],"required":[18],"to":[19,39,42,57,171],"conduct":[20],"on":[22],"surface":[24,103,123],"which":[26],"exact":[28],"dimensions":[29],"are":[30,55,76,134],"unknown.":[31],"In":[32,49,86],"such":[33,60],"cases,":[34],"skilled":[35],"human":[36,63,84,119,163],"workers":[37],"have":[38],"step":[40],"perform":[43,70],"labor-intensive":[44],"tasks":[45],"with":[46],"inconsistent":[47],"quality.":[48],"existing":[50],"research":[51],"work,":[52],"collaborative":[53],"robots":[54],"used":[56],"partially":[58],"automate":[59],"under":[62,112],"supervision.":[64],"However,":[65],"these":[66],"methods":[67],"do":[68],"not":[69],"learning":[71,91,130],"and":[72,75,92,114,128,131,153,176],"control":[73,93,110,132],"simultaneously":[74],"often":[77],"affected":[78],"by":[79,157,161],"interactions":[81],"operator.":[85,120],"this":[87,183],"paper,":[88],"novel":[90],"scheme":[94],"proposed":[96,167],"robot":[99,139,152],"explores":[100],"an":[101],"unknown":[102,122],"iteratively":[104],"while":[105],"achieving":[106],"desired":[108],"contact":[109],"performance":[111],"supervision":[113],"occasional":[115],"interference":[116],"from":[117],"The":[121,166,180],"divided":[125],"into":[126],"sub-regions,":[127],"parameters":[133],"updated":[135],"each":[136,141],"time":[137],"visits":[140],"sub-region.":[142],"This":[143],"method":[144,168,184],"independent":[146],"path":[149],"thus":[154],"unaffected":[156],"irregularities":[159],"introduced":[160],"operator's":[164],"interactions.":[165],"applied":[170],"force":[172],"control,":[173],"stiffness":[174],"learning,":[175],"orientation":[177],"adaptation":[178],"cases.":[179],"validity":[181],"shown":[186],"via":[187],"simulations":[188],"as":[189,191],"well":[190],"experiments":[192],"conducted":[193],"using":[194],"Kinova":[196],"Gen3":[197],"7-DOF":[198],"robot.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
