Selected Publications

Zolotas, M., Long, P., & Padir, T. (2025). robot_collision_checking: A Lightweight ROS 2 Interface to FCL (Flexible Collision Library). Journal of Open Source Software (JOSS), 10(105), 7473.

Jain, A., Long, P., Villani, V., Kelleher, J. D., & Leva, M. C. (2024). CoBT: Collaborative Programming of Behaviour Trees from One Demonstration for Robot Manipulation. 2024 IEEE International Conference on Robotics and Automation (ICRA), 12993–12999. IEEE.

Sagar, K., Caro, S., Padır, T., & Long, P. (2023). Polytope-based continuous scalar performance measure with analytical gradient for effective robot manipulation. IEEE Robotics and Automation Letters (RA-L) , 8(11), 7289–7296.

Wang, M., Önol, A. Ö., Long, P., & Padır, T. (2022). Contact-implicit planning and control for non-prehensile manipulation using state-triggered constraints. The International Symposium of Robotics Research (ISRR), 189–204. Springer Nature Switzerland Cham.

Chevallereau, C., Girin, A., & Long, P. (dec # ‘ 7’, note=US Patent 11,192,251 2021). Method and device for controlling a robot during co-activity.

Rasheed, T., Long, P., & Caro, S. (2020). Wrench-feasible workspace of mobile cable-driven parallel robots. Journal of Mechanisms and Robotics, 12(3), 031009.

Long, P., Marques-Gamez, D., Caro, S., Girin, A., Gagliardini, L., & Goutefarde, M. (mar # ‘ 24’, note=US Patent 10,596,702 2020). Reconfigurable mobile cable robot.

Önol, A. Ö., Corcodel, R., Long, P., & Padır, T. (2020). Tuning-free contact-implicit trajectory optimization. 2020 IEEE International Conference on Robotics and Automation (ICRA), 1183–1189. IEEE.

Pedemonte, N., Rasheed, T., Marquez-Gamez, D., Long, P., Hocquard, É., Babin, F., … Caro, S. (2020). Fastkit: A mobile cable-driven parallel robot for logistics. Advances in Robotics Research: From Lab to Market: ECHORD++: Robotic Science Supporting Innovation, 141–163.

Önol, A. Ö., Long, P., & Padır, T. (2019). Contact-implicit trajectory optimization based on a variable smooth contact model and successive convexification. 2019 International Conference on Robotics and Automation (ICRA), 2447–2453. IEEE.

Long, P., Keleştemur, T., Önol, A. Ö., & Padir, T. (2019). Optimization-based human-in-the-loop manipulation using joint space polytopes. 2019 International Conference on Robotics and Automation (ICRA), 204–210. IEEE.

Rasheed, T., Long, P., Roos, A. S., & Caro, S. (2019). Optimization based trajectory planning of mobile cable-driven parallel robots. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6788–6793. IEEE.

Onol, Aykut Ozgun, Long, P., & Padlr, T. (2018). A comparative analysis of contact models in trajectory optimization for manipulation. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1–9. IEEE.

Rasheed, T., Long, P., Marquez-Gamez, D., & Caro, S. (2018a). Available wrench set for planar mobile cable-driven parallel robots. 2018 IEEE International Conference on Robotics and Automation (ICRA), 962–967. IEEE.

Long, P., & Padir, T. (2018). Evaluating robot manipulability in constrained environments by velocity polytope reduction. 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 1–9. IEEE.

Long, P., Chevallereau, C., Chablat, D., & Girin, A. (2017). An industrial security system for human-robot coexistence. Industrial Robot: An International Journal, 45(2), 220–226.

Long, P., Khalil, W., & Martinet, P. (2014b). Force/vision control for robotic cutting of soft materials. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4716–4721. IEEE.

Long, P., Khalil, W., & Caro, S. (2015). Kinematic and dynamic analysis of lower-mobility cooperative arms. Robotica, 33(9), 1813–1834.

Long, P., Khalil, W., & Martinet, P. (2014a). Dynamic modeling of parallel robots with flexible platforms. Mechanism and Machine Theory, 81, 21–35.