Related papers: AirSim: High-Fidelity Visual and Physical Simulati…
This paper describes the exploration and learnings during the process of developing a self-driving algorithm in simulation, followed by deployment on a real car. We specifically concentrate on the Formula Student Driverless competition. In…
Unmanned Aerial Vehicle (UAV) systems are being increasingly used in a broad range of applications requiring extensive communications, either to interconnect the UAVs with each other or with ground resources. Focusing either on the modeling…
Air components, including UAVs, planes, balloons, and satellites have been widely utilized since the fixed capacity of ground infrastructure cannot meet the dynamic load of the users. However, since those air components should be…
Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…
Testing autonomous vehicles in simulation environments is crucial. Sim-ATAV is an open-source framework developed for experimenting with different test generation techniques in simulation environments for research purposes. This document…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
Application of Unmanned Aerial Vehicles (UAVs) in search and rescue, emergency management, and law enforcement has gained traction with the advent of low-cost platforms and sensor payloads. The emergence of hybrid neural and symbolic AI…
Scalable sensor simulation is an important yet challenging open problem for safety-critical domains such as self-driving. Current works in image simulation either fail to be photorealistic or do not model the 3D environment and the dynamic…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
We present a novel method for testing the safety of self-driving vehicles in simulation. We propose an alternative to sensor simulation, as sensor simulation is expensive and has large domain gaps. Instead, we directly simulate the outputs…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…
We present a hardware-in-the-loop (HIL) simulation setup for repeatable testing of Connected Automated Vehicles (CAVs) in dynamic, real-world scenarios. Our goal is to test control and planning algorithms and their distributed…
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in…
The investigation of factors contributing at making humans trust Autonomous Vehicles (AVs) will play a fundamental role in the adoption of such technology. The user's ability to form a mental model of the AV, which is crucial to establish…
While LLM/VLM-powered AI agents have advanced rapidly in math, coding, and computer use, their applications in complex physical and social environments remain challenging. Building agents that can survive and thrive in the real world (for…
With the rapid growth of urban transportation and the continuous progress in autonomous driving, a demand for robust benchmarking autonomous driving algorithms has emerged, calling for accurate modeling of large-scale urban traffic…
Autonomous vehicles are the culmination of advances in many areas such as sensor technologies, artificial intelligence (AI), networking, and more. This paper will introduce the reader to the technologies that build autonomous vehicles. It…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Autonomous aerial robots are becoming commonplace in our lives. Hands-on aerial robotics courses are pivotal in training the next-generation workforce to meet the growing market demands. Such an efficient and compelling course depends on a…
In recent years, aerial platforms have evolved from passive flying sensors into versatile, contact-aware robotic systems, leading to rapid advances in platform design. Standard coplanar and collinear quadrotors have been complemented by…