Volume 1, Issue 3 — September 2026

Transactions on Intelligent Robotics and Autonomous Systems · Volume 1, Issue 3 · Published September 2026 · 9 articles

KAGG:2609.00009 doi: 10.5803/kagg.2609.00009	Adaptive Safety Margins for Quadruped Navigation with Calibrated Velocity Interfaces Junho Kang, Hyesun Bae, Daewon Ryu, Minju Seo Fixed safety margins for legged navigation are tuned once, so they ignore both how well the robot's velocity interface is currently calibrated and how much free space the robot is …	PDF
KAGG:2609.00008 doi: 10.5803/kagg.2609.00008	Local Planning under Asymmetric Collision Geometries Across Embodiments Anika Roth, Selin Aydin, Lukas Brandt Local planners that run across quadrupeds, wheeled robots, and humanoids commonly represent every body by a symmetrically inflated disk or a static footprint, discarding the swing …	PDF
KAGG:2609.00007 doi: 10.5803/kagg.2609.00007	Future-Range Conditioning for Imitation-Learned Quadruped Navigation Rachel Kim, Ivan Sokolov, Marcus Hill Imitation-learned navigation policies for legged robots inherit the range representation of the data they are trained on: a policy that observes only the present range scan tends t…	PDF
KAGG:2609.00006 doi: 10.5803/kagg.2609.00006	System Identification versus Learned Models for Commodity Quadruped Velocity Interfaces Lin Zhao, Maximilian Weber, Julia Hoffmann, Omar Farouk Navigation stacks for commodity quadrupeds command the robot through a vendor velocity interface whose response to commands, including delay, lag, cross-axis coupling, and saturati…	PDF
KAGG:2609.00005 doi: 10.5803/kagg.2609.00005	Shared Configuration Abstractions for Heterogeneous Fleet Navigation Hana Sato, Tomas Keller, Mei-Lin Chao Heterogeneous robot fleets that must follow, avoid, or rendezvous with one another need more than per-robot planning: each robot must reason about how its peers are shaped, how qui…	PDF
KAGG:2609.00004 doi: 10.5803/kagg.2609.00004	High-Speed Obstacle Negotiation for Agile Quadrupeds with Range-Predictive Control Carlos Ramirez, Felix Wagner, Ethan Brooks, Ananya Iyer At running speeds of 4 to 6 m/s, the reaction budget of a quadruped robot is dominated by the lag of its velocity controller rather than by perception, so a controller that reacts …	PDF
KAGG:2609.00003 doi: 10.5803/kagg.2609.00003	Closed-Loop Field Calibration of Quadruped Velocity Interfaces Wei Xu, Arjun Mehta, Ethan Cole Quadruped navigation stacks usually command a locomotion controller through a velocity interface whose command-to-motion response must be calibrated before the planner's prediction…	PDF
KAGG:2609.00002 doi: 10.5803/kagg.2609.00002	Distilling Cross-Embodiment Planners into Onboard-Deployable Policies Rongxin Guo, Xiaotong Zhang, Yifan Chen, Daichi Mori Configuration-driven cross-embodiment local planners such as AgniNav allow a single planning stack to serve robots with different body geometry, sensing, and velocity limits, but t…	PDF
KAGG:2609.00001 doi: 10.5803/kagg.2609.00001	Predictive Terrain Range Maps for Energy-Efficient Quadruped Navigation Jialin Ma, Mingxuan Li, Yutong Zhou Energy-efficient quadruped navigation requires knowing not only where obstacles are but also which feasible routes waste energy in rough terrain. Control-aligned future-range predi…	PDF