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Autonomous Robotics and Continuum Systems (ARCS) Lab

Publications

[1] Teetaert, S., Lilge, S., Burgner-Kahrs, J., & Barfoot, T. D. (in press). A stochastic framework for continuous-time state estimation of continuum robots. IEEE Transactions on Robotics.

[2] Holmes, C., Lilge, S., Guo, Z. C., Dellaert, F., & Barfoot, T. D. (2026). Smoothing out the edges: Continuous-time estimation with Gaussian process motion priors on factor graphs. Foundations and Trends in Robotics, 13, 353-438.

[3] Boxan, M., Jeanson, G., Krawciw, A., Daum, E., Qiao, X., Lilge, S., Barfoot, T. D., & Pomerleau, F. (2026). FoMo: A multi-season dataset for robot navigation in Forêt Montmorency. The International Journal of Robotics Research.

[4] Hachen, M., Shentu, C., Lilge, S., & Burgner-Kahrs, J. (2025). A non-linear model predictive task-space controller satisfying shape constraints for tendon-driven continuum robots. IEEE Robotics and Automation Letters, 10, 2438-2445.

[5] Lilge, S., & Barfoot, T. D. (2025). Incorporating control inputs in continuous-time Gaussian process state estimation for robotics. Robotica, 43, 1067-1086.

[6] Lilge, S., Barfoot, T., & Burgner-Kahrs, J. (2024). State estimation for continuum multirobot systems on SE(3). IEEE Transactions on Robotics, 41, 905-925.

[7] Lilge, S., Nuelle, K., Childs, J. A., Wen, K., Rucker, D. C., & Burgner-Kahrs, J. (2024). Parallel-continuum robots: A survey. IEEE Transactions on Robotics, 40, 3252-3270.

[8] Lilge, S., Wen, K., & Burgner-Kahrs, J. (2023). Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links. Frontiers in Robotics and AI, 9, 1082185.

[9] Lilge, S., Barfoot, T. D., & Burgner-Kahrs, J. (2022). Continuum robot state estimation using Gaussian process regression on SE(3). The International Journal of Robotics Research, 41, 1099-1120.

[10] Lilge, S., & Burgner-Kahrs, J. (2022). Kinetostatic modeling of tendon-driven parallel continuum robots. IEEE Transactions on Robotics, 39, 1563-1579.

[11] Rao, P., Peyron, Q., Lilge, S., & Burgner-Kahrs, J. (2021). How to model tendon-driven continuum robots and benchmark modelling performance. Frontiers in Robotics and AI, 7, 630245.

[12] Böttcher, G., Lilge, S., & Burgner-Kahrs, J. (2021). Design of a reconfigurable parallel continuum robot with tendon-actuated kinematic chains. IEEE Robotics and Automation Letters, 6, 1272-1279.

[13] Lilge, S., Nuelle, K., Boettcher, G., Spindeldreier, S., & Burgner-Kahrs, J. (2021). Tendon actuated continuous structures in planar parallel robots: A kinematic analysis. Journal of Mechanisms and Robotics, 13, 011025.

[14] Nuelle, K., Sterneck, T., Lilge, S., Xiong, D., Burgner-Kahrs, J., & Ortmaier, T. (2020). Modeling, calibration, and evaluation of a tendon-actuated planar parallel continuum robot. IEEE Robotics and Automation Letters, 5, 5811-5818.

[15] Donat, H., Lilge, S., Burgner-Kahrs, J., & Steil, J. J. (2020). Estimating tip contact forces for concentric tube continuum robots based on backbone deflection. IEEE Transactions on Medical Robotics and Bionics, 2, 619-630.

[16] Chikhaoui, M. T., Lilge, S., Kleinschmidt, S., & Burgner-Kahrs, J. (2019). Comparison of modeling approaches for a tendon actuated continuum robot with three extensible segments. IEEE Robotics and Automation Letters, 4, 989-996.

[17] Black, D., Lilge, S., Fellmann, C., Reinschluessel, A. V., Kreuer, L., Nabavi, A., Hahn, H. K., Kikinis, R., & Burgner-Kahrs, J. (2019). Auditory display for telerobotic transnasal surgery using a continuum robot. Journal of Medical Robotics Research, 4, 1950004.

[18] Liermann, E., Grassmann, R. M., Lilge, S., Wen, K., Gotelli, A., & Burgner-Kahrs, J. (in press). A translational parallel continuum robot using double-beam links. In 5th International Conference on Theory, Applications and Future Trends for Parallel Robotic Manipulators.

[19] Teetaert, S., Caroleo, G., Pontin, M., Lilge, S., Burgner-Kahrs, J., Barfoot, T. D., & Maiolino, P. (2026). Continuum robot localization using distributed time-of-flight sensors. In Robotics: Science and Systems XXII.

[20] Teetaert, S., Lilge, S., Burgner-Kahrs, J., & Barfoot, T. D. (2026). A sliding-window filter for online continuous-time continuum robot state estimation. In 2026 IEEE 9th International Conference on Soft Robotics (RoboSoft) (pp. 239-246).

[21] Fisker, D., Krawciw, A., Lilge, S., Greeff, M., & Barfoot, T. D. (2025). UAV see, UGV do: Aerial imagery and virtual teach enabling zero-shot ground vehicle repeat. In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 17518-17525).

[22] Qiao, X., Krawciw, A., Lilge, S., & Barfoot, T. D. (2025). Radar teach and repeat: Architecture and initial field testing. In 2025 IEEE International Conference on Robotics and Automation (ICRA) (pp. 13021-13027).

[23] Krawciw, A., Lilge, S., & Barfoot, T. D. (2024). LaserSAM: Zero-shot change detection using visual segmentation of spinning LiDAR. In Proceedings of the 21st Conference on Robots and Vision (CRV).

[24] Zhang, H. J., Lilge, S., Chikhaoui, M. T., & Burgner-Kahrs, J. (2022). Cooperative control of dual-arm concentric tube continuum robots. In 2022 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) (pp. 1-6).

[25] Liang, N., Grassmann, R. M., Lilge, S., & Burgner-Kahrs, J. (2021). Learning-based inverse kinematics from shape as input for concentric tube continuum robots. In 2021 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1387-1393).

[26] Lilge, S., Black, D., Nabavi, A., & Burgner-Kahrs, J. (2018). Comparison of haptic and auditory feedback methods for the teleoperation of concentric tube continuum robots. In 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) (pp. 74-79).

[27] Kreuer, L., Lilge, S., & Burgner-Kahrs, J. (2017). Entwicklung von Kontrollalgorithmen für die Teleoperation von tubulären Kontinuumsrobotern. In 16. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC) (pp. 79-84).

[28] Pogue, C., Lilge, S., Diller, E., & Burgner-Kahrs, J. (2025). Improving continuum robots' stiffness through joining. In 2025 IEEE-RAS International Conference on Soft Robotics (RoboSoft).

[29] Teetaert, S., Lilge, S., Burgner-Kahrs, J., & Barfoot, T. D. (2024). Space-time continuum: Continuous shape and time state estimation for flexible robots. In Proceedings of the 40th Anniversary of the IEEE International Conference on Robotics and Automation (ICRA@40). arXiv:2409.12302. https://doi.org/10.48550/arXiv.2409.12302

[30] Boxan, M., Krawciw, A., Daum, E., Qiao, X., Lilge, S., Barfoot, T. D., & Pomerleau, F. (2024). FoMo: A proposal for a multi-season dataset for robot navigation in Forêt Montmorency. In Field Robotics Workshop at the 2024 IEEE International Conference on Robotics and Automation (ICRA). arXiv:2404.13166. https://doi.org/10.48550/arXiv.2404.13166

[31] Lilge, S., & Burgner-Kahrs, J. (2022). Derivation and evaluation of a kinetostatic modeling approach for spatial tendon driven parallel continuum robots. In Parallel Robots or Not Parallel Robots? New Frontiers of Parallel Robotics Workshop at the 2022 IEEE International Conference on Robotics and Automation (ICRA).

[32] Lilge, S., & Burgner-Kahrs, J. (2021). Design, modeling and evaluation of tendon driven parallel continuum robots. In Parallel Robots or Not Parallel Robots? New Frontiers of Parallel Robotics Workshop at the 2021 IEEE International Conference on Robotics and Automation (ICRA).

[33] Grassmann, R. M., Lilge, S., Le, P., & Burgner-Kahrs, J. (2020). CTCR prototype development: An obstacle in the research community? In Robotics Retrospectives Workshop at Robotics: Science and Systems (RSS) 2020.

[34] Lilge, S., & Burgner-Kahrs, J. (2019). Enforcing shape constraints during motion of concentric tube continuum robots. In Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems Workshop at the 2019 IEEE International Conference on Robotics and Automation (ICRA).

[35] Donat, H., Lilge, S., Burgner-Kahrs, J., & Steil, J. J. (2019). Towards learning force sensing for a concentric tube continuum robot. In Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems Workshop at the 2019 IEEE International Conference on Robotics and Automation (ICRA).

 

[36] Barfoot, T., Le Gentil, C., & Lilge, S. (2026). Revisiting continuous-time trajectory estimation via Gaussian processes and the Magnus expansion. arXiv preprint arXiv:2601.03360.

[37] Krawciw, A., Antonyshyn, L., Lilge, S., Olmedo, N., Rehmatullah, F., Desjardins-Goulet, M., Toupin, P., & Barfoot, T. D. (2025). Sharing the load: Autonomous multi-rover cargo transport. arXiv preprint arXiv:2510.18766.

[38] Lilge, S. (2023). Tendon-driven parallel continuum robots: Modeling, characterization and state estimation [Doctoral dissertation, University of Â鶹ÊÓƵ].