Showing 50 publications by Ioannis Havoutis, Ioannis Havoutis
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
BibTeX
@article{curriculumbased-2024/11,
title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
journal={IEEE Robotics and Automation Magazine},
pages={2-15},
publisher={IEEE},
year = "2024"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@misc{offlineadaptati-2024/11,
title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
year = "2024"
}
Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design
Atanassov V, Ding J, Kober J, Havoutis I & Santina CD (2024), IEEE Robotics and Automation Magazine, 2-15
BibTeX
@article{curriculumbased-2024/11,
title={Curriculum-based reinforcement learning for quadrupedal jumping: a reference-free design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Santina CD},
journal={IEEE Robotics and Automation Magazine},
pages={2-15},
publisher={IEEE},
year = "2024"
}
Offline Adaptation of Quadruped Locomotion using Diffusion Models
O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I (2024)
BibTeX
@misc{offlineadaptati-2024/11,
title={Offline Adaptation of Quadruped Locomotion using Diffusion Models},
author={O'Mahoney R, Mitchell AL, Yu W, Posner I & Havoutis I},
year = "2024"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (2024)
BibTeX
@misc{constrainedskil-2024/10,
title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
year = "2024"
}
Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning
Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I (2024)
BibTeX
@misc{constrainedskil-2024/10,
title={Constrained Skill Discovery: Quadruped Locomotion with Unsupervised Reinforcement Learning},
author={Atanassov V, Yu W, Mitchell AL, Finean MN & Havoutis I},
year = "2024"
}
InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (2024)
BibTeX
@misc{inteliplaninter-2024/9,
title={InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
author={Ly KT, Lu K & Havoutis I},
year = "2024"
}
InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy
Ly KT, Lu K & Havoutis I (2024)
BibTeX
@misc{inteliplaninter-2024/9,
title={InteLiPlan: Interactive Lightweight LLM-Based Planner for Domestic Robot Autonomy},
author={Ly KT, Lu K & Havoutis I},
year = "2024"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
BibTeX
@inproceedings{rlgpareachabili-2024/8,
title={R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
pages={14917-14923},
year = "2024"
}
R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2024), 2024 IEEE International Conference on Robotics and Automation (ICRA), 14917-14923
BibTeX
@inproceedings{rlgpareachabili-2024/8,
title={R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
booktitle={2024 IEEE International Conference on Robotics and Automation (ICRA 2024)},
pages={14917-14923},
year = "2024"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@inproceedings{learninganddepl-2024/7,
title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
pages={578-590},
year = "2024"
}
Learning and deploying robust locomotion policies with minimal dynamics randomization
Campanaro L, Gangapurwala S, Merkt W & Havoutis I (2024), Proceedings of the 6th Annual Learning for Dynamics and Control Conference, 578-590
BibTeX
@inproceedings{learninganddepl-2024/7,
title={Learning and deploying robust locomotion policies with minimal dynamics randomization},
author={Campanaro L, Gangapurwala S, Merkt W & Havoutis I},
booktitle={6th Annual Learning for Dynamics and Control Conference (L4DC 2024)},
pages={578-590},
year = "2024"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}
Adaptive Manipulation using Behavior Trees
Cloete J, Merkt W & Havoutis I (2024)
BibTeX
@misc{adaptivemanipul-2024/6,
title={Adaptive Manipulation using Behavior Trees},
author={Cloete J, Merkt W & Havoutis I},
year = "2024"
}
Oscillating latent dynamics in robot systems during walking and reaching
Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al. (2024), Scientific Reports, 14(1)
BibTeX
@article{oscillatinglate-2024/5,
title={Oscillating latent dynamics in robot systems during walking and reaching},
author={Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al.},
journal={Scientific Reports},
volume={14},
number={11434},
publisher={Springer Nature},
year = "2024"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (2024)
BibTeX
@misc{gaitorlearninga-2024/5,
title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
year = "2024"
}
Oscillating latent dynamics in robot systems during walking and reaching
Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al. (2024), Scientific Reports, 14(1)
BibTeX
@article{oscillatinglate-2024/5,
title={Oscillating latent dynamics in robot systems during walking and reaching},
author={Parker Jones O, Mitchell A, Yamada J, Merkt W, Geisert M et al.},
journal={Scientific Reports},
volume={14},
number={11434},
publisher={Springer Nature},
year = "2024"
}
Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion
Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I (2024)
BibTeX
@misc{gaitorlearninga-2024/5,
title={Gaitor: Learning a Unified Representation Across Gaits for Real-World Quadruped Locomotion},
author={Mitchell AL, Merkt W, Papatheodorou A, Havoutis I & Posner I},
year = "2024"
}
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C (2024)
BibTeX
@misc{curriculumbased-2024/1,
title={Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C},
year = "2024"
}
Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design
Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C (2024)
BibTeX
@misc{curriculumbased-2024/1,
title={Curriculum-Based Reinforcement Learning for Quadrupedal Jumping: A Reference-free Design},
author={Atanassov V, Ding J, Kober J, Havoutis I & Della Santina C},
year = "2024"
}
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2023), Autonomous Robots, 47(8), 1463-1481
BibTeX
@article{rolomarobustloc-2023/10,
title={RoLoMa: robust loco-manipulation for quadruped robots with arms},
author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
journal={Autonomous Robots},
volume={47},
pages={1463-1481},
publisher={Springer},
year = "2023"
}
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2023)
BibTeX
@misc{rlgpareachabili-2023/10,
title={R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
year = "2023"
}
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2023)
BibTeX
@misc{momentumawaretr-2023/10,
title={Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics},
author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
year = "2023"
}
RoLoMa: robust loco-manipulation for quadruped robots with arms
Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S (2023), Autonomous Robots, 47(8), 1463-1481
BibTeX
@article{rolomarobustloc-2023/10,
title={RoLoMa: robust loco-manipulation for quadruped robots with arms},
author={Ferrolho H, Ivan V, Merkt W, Havoutis I & Vijayakumar S},
journal={Autonomous Robots},
volume={47},
pages={1463-1481},
publisher={Springer},
year = "2023"
}
R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators
Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I (2023)
BibTeX
@misc{rlgpareachabili-2023/10,
title={R-LGP: A Reachability-guided Logic-geometric Programming Framework for Optimal Task and Motion Planning on Mobile Manipulators},
author={Ly KT, Semenov V, Risiglione M, Merkt W & Havoutis I},
year = "2023"
}
Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics
Papatheodorou A, Merkt W, Mitchell AL & Havoutis I (2023)
BibTeX
@misc{momentumawaretr-2023/10,
title={Momentum-Aware Trajectory Optimisation using Full-Centroidal Dynamics and Implicit Inverse Kinematics},
author={Papatheodorou A, Merkt W, Mitchell AL & Havoutis I},
year = "2023"
}
Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring
Ly K, Munks M, Merkt W & Havoutis I (2023), IEEE International Conference on Automation Science and Engineering (CASE), 2023-August, 1-7
BibTeX
@inproceedings{asymptoticallyo-2023/9,
title={Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring},
author={Ly K, Munks M, Merkt W & Havoutis I},
booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
pages={1-7},
year = "2023"
}
Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring
Ly K, Munks M, Merkt W & Havoutis I (2023), IEEE International Conference on Automation Science and Engineering (CASE), 2023-August, 1-7
BibTeX
@inproceedings{asymptoticallyo-2023/9,
title={Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring},
author={Ly K, Munks M, Merkt W & Havoutis I},
booktitle={2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
pages={1-7},
year = "2023"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
BibTeX
@article{vaelocoversatil-2023/7,
title={VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation},
author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
journal={IEEE Transactions on Robotics},
volume={39},
pages={3805-3820},
publisher={IEEE},
year = "2023"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/7,
title={Leveraging scene embeddings for gradient-based motion planning in latent space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5674-5680},
year = "2023"
}
Learning low-frequency motion control for robust and dynamic robot locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5085-5091
BibTeX
@inproceedings{learninglowfreq-2023/7,
title={Learning low-frequency motion control for robust and dynamic robot locomotion},
author={Gangapurwala S, Campanaro L & Havoutis I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5085-5091},
year = "2023"
}
VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation
Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al. (2023), IEEE Transactions on Robotics, 39(5), 3805-3820
BibTeX
@article{vaelocoversatil-2023/7,
title={VAE-Loco: versatile quadruped locomotion by learning a disentangled gait representation},
author={Mitchell AL, Merkt WX, Geisert M, Gangapurwala S, Engelcke M et al.},
journal={IEEE Transactions on Robotics},
volume={39},
pages={3805-3820},
publisher={IEEE},
year = "2023"
}
Leveraging scene embeddings for gradient-based motion planning in latent space
Yamada J, Hung CM, Collins J, Havoutis I & Posner I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5674-5680
BibTeX
@inproceedings{leveragingscene-2023/7,
title={Leveraging scene embeddings for gradient-based motion planning in latent space},
author={Yamada J, Hung CM, Collins J, Havoutis I & Posner I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5674-5680},
year = "2023"
}
Learning low-frequency motion control for robust and dynamic robot locomotion
Gangapurwala S, Campanaro L & Havoutis I (2023), 2023 IEEE International Conference on Robotics and Automation (ICRA), 5085-5091
BibTeX
@inproceedings{learninglowfreq-2023/7,
title={Learning low-frequency motion control for robust and dynamic robot locomotion},
author={Gangapurwala S, Campanaro L & Havoutis I},
booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
pages={5085-5091},
year = "2023"
}
Roll-Drop: accounting for observation noise with a single parameter
Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I (2023), Proceedings of The 5th Annual Learning for Dynamics and Control Conference, 718-730
BibTeX
@inproceedings{rolldropaccount-2023/6,
title={Roll-Drop: accounting for observation noise with a single parameter},
author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
booktitle={5th Annual Learning for Dynamics and Control Conference (L4DC 2023)},
pages={718-730},
year = "2023"
}
Roll-Drop: accounting for observation noise with a single parameter
Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I (2023), Proceedings of The 5th Annual Learning for Dynamics and Control Conference, 718-730
BibTeX
@inproceedings{rolldropaccount-2023/6,
title={Roll-Drop: accounting for observation noise with a single parameter},
author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
booktitle={5th Annual Learning for Dynamics and Control Conference (L4DC 2023)},
pages={718-730},
year = "2023"
}
Motion planning in dynamic environments using context-aware human trajectory prediction
Finean MN, Petrovi?? L, Merkt W, Markovi?? I & Havoutis I (2023), Robotics and Autonomous Systems, 104450-104450
BibTeX
@article{motionplanningi-2023/5,
title={Motion planning in dynamic environments using context-aware human trajectory prediction},
author={Finean MN, Petrovi?? L, Merkt W, Markovi?? I & Havoutis I},
journal={Robotics and Autonomous Systems},
number={104450},
pages={104450-104450},
publisher={Elsevier BV},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023)
BibTeX
@misc{youonlylookaton-2023/5,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
year = "2023"
}
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Corb??res T, Mastalli C, Merkt W, Havoutis I, Fallon M et al. (2023)
BibTeX
@misc{perceptivelocom-2023/5,
title={Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection},
author={Corb??res T, Mastalli C, Merkt W, Havoutis I, Fallon M et al.},
year = "2023"
}
Motion planning in dynamic environments using context-aware human trajectory prediction
Finean MN, Petrovi?? L, Merkt W, Markovi?? I & Havoutis I (2023), Robotics and Autonomous Systems, 104450-104450
BibTeX
@article{motionplanningi-2023/5,
title={Motion planning in dynamic environments using context-aware human trajectory prediction},
author={Finean MN, Petrovi?? L, Merkt W, Markovi?? I & Havoutis I},
journal={Robotics and Autonomous Systems},
number={104450},
pages={104450-104450},
publisher={Elsevier BV},
year = "2023"
}
You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example
Goodwin W, Havoutis I & Posner I (2023)
BibTeX
@misc{youonlylookaton-2023/5,
title={You Only Look at One: Category-Level Object Representations for Pose Estimation From a Single Example},
author={Goodwin W, Havoutis I & Posner I},
year = "2023"
}
Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection
Corb??res T, Mastalli C, Merkt W, Havoutis I, Fallon M et al. (2023)
BibTeX
@misc{perceptivelocom-2023/5,
title={Perceptive Locomotion through Whole-Body MPC and Optimal Region Selection},
author={Corb??res T, Mastalli C, Merkt W, Havoutis I, Fallon M et al.},
year = "2023"
}
Roll-Drop: accounting for observation noise with a single parameter
Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I (2023)
BibTeX
@misc{rolldropaccount-2023/4,
title={Roll-Drop: accounting for observation noise with a single parameter},
author={Campanaro L, De Martini D, Gangapurwala S, Merkt W & Havoutis I},
year = "2023"
}
You only look at one: category-level object representations for pose estimation from a single example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of The 6th Conference on Robot Learning, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/3,
title={You only look at one: category-level object representations for pose estimation from a single example},
author={Goodwin W, Havoutis I & Posner I},
booktitle={6th Conference on Robot Learning (CoRL 2022)},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung C-M, Collins J, Havoutis I & Posner I (2023)
BibTeX
@misc{leveragingscene-2023/3,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
year = "2023"
}
You only look at one: category-level object representations for pose estimation from a single example
Goodwin W, Havoutis I & Posner I (2023), Proceedings of The 6th Conference on Robot Learning, 1435-1445
BibTeX
@inproceedings{youonlylookaton-2023/3,
title={You only look at one: category-level object representations for pose estimation from a single example},
author={Goodwin W, Havoutis I & Posner I},
booktitle={6th Conference on Robot Learning (CoRL 2022)},
pages={1435-1445},
year = "2023"
}
Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space
Yamada J, Hung C-M, Collins J, Havoutis I & Posner I (2023)
BibTeX
@misc{leveragingscene-2023/3,
title={Leveraging Scene Embeddings for Gradient-Based Motion Planning in Latent Space},
author={Yamada J, Hung C-M, Collins J, Havoutis I & Posner I},
year = "2023"
}
BiConMP: a nonlinear model predictive control framework for whole body motion planning
Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al. (2023), IEEE Transactions on Robotics, 1-18
BibTeX
@article{biconmpanonline-2023/1,
title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
journal={IEEE Transactions on Robotics},
pages={1-18},
publisher={IEEE},
year = "2023"
}
From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control
Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al. (2023)
BibTeX
@inproceedings{fromprimatestor-2023/1,
title={From Primates to Robots: Emerging Oscillatory Latent-Space Dynamics for Sensorimotor Control},
author={Mitchell A, Parker Jones O, Yamada J, Merkt W, Havoutis I et al.},
booktitle={2023 Conference on Cognitive Computational Neuroscience},
year = "2023"
}
BiConMP: a nonlinear model predictive control framework for whole body motion planning
Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al. (2023), IEEE Transactions on Robotics, 1-18
BibTeX
@article{biconmpanonline-2023/1,
title={BiConMP: a nonlinear model predictive control framework for whole body motion planning},
author={Meduri A, Shah P, Viereck J, Khadiv M, Havoutis I et al.},
journal={IEEE Transactions on Robotics},
pages={1-18},
publisher={IEEE},
year = "2023"
}