Tutorials

The magazine tutorials cover important and topical issues in robotics and are written by leading experts in the field. They are in the top downloads charts and receive many citations, meaning they have clearly an important role for our society. They are often written from a position that a new researcher, by following the tutorial, is offered a quick and efficient path to state of the art tools useful for his or her research or development.

With the vision for reproducible research in mind, we aim that the tutorial should contain sufficient details (including datasets and software preferable offered over codeocean.com), so the complete tutorial can be reproduced and the gained knowledge can be experimented with and enhanced for further use.

Since the number of pages per article is limited since it is in print, we aim for tutorials written in two parts.

The first part should present a high-level view of the methodology employed, why the tutorial is relevant for the community. This part should be laid out in a concise and clear fashion (magazine style with reduced paper length and number of equations) so everyone should be able to read and understand it. Interested readers can than drill down into the details of the analysis by placing all details, step-by-step procedures in the online supplementary material (which does not have a page limit). As such we aim to find a balance between readability and reproducibility.

RAM Tutorial Papers Open Access

 

Year	Volume	Issue	Paper Title	Author	Paper Link
2006	13	2	Simultaneous localization and mapping: part I	Hugh Durrant-Whyte  and Tim Bailey	https://ieeexplore.ieee.org/document/1638022
2006	13	3	Simultaneous localization and mapping (SLAM): part II	Tim Bailey and Hugh Durrant-Whyte	https://ieeexplore.ieee.org/document/1678144
2006	13	4	Visual servo control. I. Basic approaches	Francois Chaumette; Seth Hutchinson	https://ieeexplore.ieee.org/document/4015997
2007	14	1	Visual servo control. II. Advanced approaches [Tutorial]	Francois Chaumette; Seth Hutchinson	https://ieeexplore.ieee.org/document/4141039
2007	14	2	Robotics in the Small, Part I: Microbotics	Jake J. Abbott, Zoltan Nagy, Felix Beyeler and Bradley J. Nelson	https://ieeexplore.ieee.org/document/4264371
2009	16	1	Snake-like robots [Tutorial]	Shigeo Hirose;Hiroya Yamada	https://ieeexplore.ieee.org/document/4799450
2011	18	4	Visual Odometry [Tutorial]	Davide Scaramuzza;Friedrich Fraundorfer	https://ieeexplore.ieee.org/document/6096039
2012	19	2	Visual Odometry : Part II: Matching, Robustness, Optimization, and Applications	Davide Scaramuzza;Friedrich Fraundorfer	https://ieeexplore.ieee.org/document/6153423
2012	19	3	Tutorial: Point Cloud Library: Three-Dimensional Object Recognition and 6 DOF Pose Estimation	Aitor Aldoma;Zoltan-Csaba Marton;Federico Tombari;Walter Wohlkinger;Christian Potthast;Bernhard Zeisl;Radu Bogdan Rusu;Suat Gedikli;Markus Vincze	https://ieeexplore.ieee.org/document/6299166
2012	19	3	Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor	Robert Mahony;Vijay Kumar;Peter Corke	https://ieeexplore.ieee.org/document/6289431
2012	19	4	The Open Motion Planning Library	Ioan A. Sucan;Mark Moll;Lydia E. Kavraki	https://ieeexplore.ieee.org/document/6377468

 

RAM R-Articles OA

 

Year	Volume	Issue	Paper Title	Author	Paper Link
2019	26	3	Time-Constrained Exploration Using Toposemantic Spatial Models: A Reproducible Approach to Measurable Robotics	Jose Luis Susa Rincon;Stefano Carpin	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8805180
2021	28	3	A Simple Visual-Servoing Task on a Low-Accuracy, Low-Cost Arm: An Experimental Comparison Between Belief Space Planning and Proportional-Integral-Derivative Controllers	Fabio Bonsignorio;Enrica Zereik	https://ieeexplore.ieee.org/document/9186201
2021	28	3	Robot Dynamics Identification: A Reproducible Comparison With Experiments on the Kinova Jaco	Giacomo Golluccio;Giuseppe Gillini;Alessandro Marino;Gianluca Antonelli	https://ieeexplore.ieee.org/document/9152028
2022	29	2	Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator	Barkan Ugurlu, Emre Sariyildiz, Ahmet Talha Kansizoglu, Erim Can Ozcinar, Sinan Coruk	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9622880
2022	29	2	Learning Fast and Precise Pixel-to-Torque Control: A Platform for Reproducible Research of Learning on Hardware	Steffen Bleher, Steve Heim, Sebastian Trimpe	https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9675140

 

 

Recent tutorials include:

• EtherCAT Tutorial: An Introduction for Real-Time Hardware Communication on Windows: Tutorial
• Robot Manipulator Capability in MATLAB: Tutorial
• Pursuit Evasion: Tutorial
• Visual Servoing: Part 1, Part 2
• SLAM: Part 1, Part 2
• 6D Vectors: Part 1, Part 2
• Planning: Part 1, Part 2
• Visual Odometry: Part 1, Part 2
• Point Cloud Library: Tutorial
• Quadtrotors: Tutorial