The research publications here include those directly generated from CRADLE together with those generated by University of Manchester researchers and Amentum engineers that directly feed into CRADLE developments.
JOURNAL PAPERS:
Araiza-Illan, …, Collins, …, Fisher, … (2025), “A Roadmap for Responsible Robotics”. IEEE Robotics and Automation Magazine.
Baniqued, Bremner, Sandisson, Harper,… Lennox, Watson, (2024), “Multimodal Immersive Digital Twin Platform for Cyber-physical Robot fFeets in Nuclear Environments”, Journal of Field Robotics
Becker, …, Fisher (2025), “An Expedited BDI Agent Architecture: Improving the Responsiveness of Agent-based Autonomous Systems for Handling Critical Situations”. Robotics and Autonomous Systems.
Chai, Niu, Carrasco, Arvin, Yin, Lennox, (2024), ‘Design and experimental validation of deep reinforcement learning-based fast trajectory planning and control for mobile robot in unknown environments’, IEEE Transactions on Neural Networks and Learning Systems
Chen, Pulgarin, Herrmann, Lanzon, Carrasco, Lennox, Brotherhood, Sakaue, Zhang (2025), “Self-Attenuating Real-time Vibration Control of a Flexible Long-reach Robot”. Transactions of Mechatronics.
Joyce, Tsitsimpelis, Alton, Taylor, West, Lennox, Livens (2025), “Improved radiation localization via energy-resolved angular photon responses”. International Journal of Modern Physics E
Kivrak, Lennox, Watson (2024), ‘Cyber-physical system architecture of autonomous robot ecosystem for industrial asset monitoring’, Computer Communications
Liu, Chai, Chai, Arvin, Zhang, Lennox, (2024) “Fast Collision-Free Multivehicle Lane Change Motion Planning and Control Framework in Uncertain Environments”. IEEE Transactions on Industrial Electronics.
Liu, Chai, Chen, Carrasco, Lennox, (2025), “Chance constrained mobile robot trajectory optimisation in partially known environments”, IEEE Transactions on Automatic Control.
Lopez, Hopper, Montgomerie, Kell, Carrasco, Herrmann, Lanzon, Lennox, (2025), ‘From traditional robotic deployments towards assisted robotic deployments in nuclear decommissioning’, Frontiers in Robotics and AI.
Mitchell, …, Lennox, …, Jiang,, (2025), “Cyber-Physical-Human Systems for Mobile Robots in Energy Asset Management: Current practices and future opportunities”. Energy and AI
de Oliveira Silvestre, Becker, Fisher, Hübner, Brito (2025), “Enhanced Agent-oriented Programming for Robot Teams”. Engineering Applications of Artificial Intelligence
Saadat, Dixon, Fisher (2025), “Specification and Verification of the Alpha Swarm Algorithm using NuXMV and GROOVE”. Formal Aspects of Computing.
Tavella, Manzi, Vinanzi, Di Dio, Massaro, Cangelosi, Marchetti (2024). “Towards a computational model for higher orders of Theory of Mind in social agents”. Frontiers in Robotics and AI.
Teodorescu, West, Lennox, (2025), ‘Bayesian Optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance’, Control Engineering Practice.
Tsitsimpelis, Kennedy, Lennox, Livens, Mathur, Randall, Taylor, Watson, West, Joyce, (2025), “Low-density collimators for remote radiation characterisation tasks”. Nuclear Inst and Methods in Physics Research A.
Winter, Downer, Wilson, Abeywickrama, Lee, Hauert, Windsor (2024), “Applying the ‘SOTEC’ Framework of Sociotechnical Risk Analysis to the Development of an Autonomous Robot Swarm for a Public Cloakroom”. Risk Analysis Journal.
Liu, Guo, Cangelosi (2025), “Embodied Intelligence: A Synergy of Morphology, Action, Perception and Learning”. ACM Computing Surveys.
CONFERENCE PAPERS:
Abeywickrama, … (2025), “Autonomous Robotic Swarms: A Corroborative Approach for Verification and Validation”. Proc. IEEE International Conference on Engineering Reliable Autonomous Systems.
Abeywickrama, Bishop, Watson, Wheeler, Fisher, Dennis (2025), “Corroborative V&V for Autonomous Systems: Integrating Evidence and Discrepancy Analysis for Safety Assurance”. Proc. International Workshop on Agents and Robots for reliable Engineered Autonomy (AREA). Communications in Computer and Information Science, vol 2700.
Abeywickrama, Fisher, Wheeler, Dennis (2025), “Towards Patterns for a Reference Assurance Case for Autonomous Inspection Robots”. Proc. IEEE/ACM 22nd International Conference on Software and Systems Reuse (ICSR). DOI: 10.1109/ICSR66718.2025.00016.
Alrawash, Hale, Lennox, Joyce, West, Watanabe, Zhang, Aspinall, (2024). ‘Prediction of fuel debris location in Fukushima nuclear power plant using machine learning’. Proc. Joint International Conference on Supercomputing in Nuclear Applications
Benjumea, Farrell, Dennis (2025). Safe-ROS: An Architecture for Autonomous Robots in Safety-Critical Domains. Proc. Formal Methods for Autonomous Systems (FMAS).
Bettles, West, Andrew, Darby, Lennox, (2024), ‘Accessibility framework for determining collisions and coverage for radiation scanning’. Proc. TAROS
Chen, Pulgarin, Herrmann, Lanzon, Carrasco, Lennox, Brotherhood, Kaiqiang, (2024), ‘Dynamics-based trajectory planning for vibration suppression of a flexible long-reach robotic manipulator system’. Proc. IROS
Chen, Yifeng, Lennox, Arvin, Atapour-Abarghouei, (2025), ‘Deep learning-enhanced visual monitoring in hazardous underwater environments with a swarm of micro-robots’, Proc. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION
Dennis, Fisher (2024), “Specifying Agent Ethics”. Proc. International Workshop on Coordination, Organizations, Institutions, Norms, and Ethics for Governance of Multi-Agent Systems XVII
Etumi, Taylor, Farrell (2025), “Towards A Catalogue of Requirement Patterns for Space Robotic Missions”. Proc. International Workshop on Formal Methods for Autonomous Systems. EPTCS.
He, Lennox, Hu, Arvin, (2024), ‘Bubbles-Swarm Micro Surface Robots for Underwater Inspection’, Proc. IEEE International Conference on Mechatronics and Automation
Hustadt, Papacchini, Nalon, Dixon (2024), “Model Construction for Modal Clauses”. Proc. International Joint Conference on Automated Reasoning. Springer Nature.
Kolker, Dennis, Pereira, Xu (2025). Uncertain Machine Ethics Planning. Proc. International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS).
Leslie-Dalley, Adorno, Groves (2024), “Control Strategies Using the Extended Cooperative Dual Task-Space”. Proc. TAROS. Springer Nature. doi: 10.1007/978-3-031-72062-8_13
Leslie-Dalley, Adorno, Groves (2024), “Control Strategies for the Task Definition of Constrained Bimanual Manipulation”. Proc. 5th UK Robot Manipulation Workshop.
Limarga, Tse, Dennis, Dixon, Faruq, Fisher (2025), “Reliable Robot Missions in Dynamic Environments Using Agent-based Controllers”. Proc. IEEE First International Conference on Engineering Reliable Autonomous Systems (ERAS).
Matsuhira, Song, Yao, Bishop, Yu, Groves, Watson, Sasaki, Yamashita (2025) “Development and Extension of a Robot Network Platform Using RSNP”. Proc. SICE Festival with Annual Conference.
Paterson, Adorno, Lennox, Groves, (2024), ‘A nonlinear estimator for dead reckoning of aquatic surface vehicles using an IMU and a Doppler Velocity Log’. Proc. IEEE international Conference on Robotics and Automation. doi: 10.1109/ICRA57147.2024.10611718.
Redfield, Olszewska, Leahy, Murahwi, Araiza-Illan, Fisher (2024), “Verification of Autonomous Systems: The Road Ahead”. Proc. 40th Anniversary of the IEEE International Conference on Robotics and Automation.
Saadat, Ferrando, Dennis, Fisher (2024), “ROSMonitoring 2.0: Extending ROS Runtime Verification to Services and Ordered Topics”. Proc. Int. Workshop on Formal Methods for Autonomous Systems.
Tsitsimpelis, West, Livens, Lennox, Taylor, Joyce, (2024), ‘Modelling radiation sensor angular responses with dynamic linear regression’. Proc. UKACC 14th International Conference on Control (CONTROL)
Xie, Maharjan, Tavella, Cangelosi (2024). From Concrete to Abstract: A Multimodal Generative Approach to Abstract Concept Learning. Proc. International Conference on Neural Information Processing
Xie, Wang, Maharjan, Tavella, Cangelosi (2025). Can Abstract Categories Be Represented by Shared Features in Concept Bottleneck Models? Proc. Annual Meeting of the Cognitive Science Society
BOOK CHAPTERS:
Cangelosi, …, Tavella, Zhu, Romeo (2025). “Human-Centred Robotics and AI for Trustworthy Human-Robot Interaction”. In Technology as Cultural Mediator: Theories and Experiences from Different Contexts. Springer.
