Related papers: A Framework for Visually Realistic Multi-robot Sim…
Robotic mobility aids for blind and low-vision (BLV) individuals rely heavily on deep learning-based vision models specialized for various navigational tasks. However, the performance of these models is often constrained by the availability…
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a…
In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…
Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…
This study advances real-time volumetric cloud rendering in Computer Graphics (CG) by developing a specialized shader in Unreal Engine (UE), focusing on realistic cloud modeling and lighting. By leveraging ray-casting-based lighting…
In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…
Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…
Due to its ability to generate millions of particles, massively detailed scenes and confusing artificial illumination with reality, the version 5 of Unreal Engine promises unprecedented industrial applications. The paradigms and aims of…
The past few years have witnessed the burst of drone-based applications where computer vision plays an essential role. However, most public drone-based vision datasets focus on detection and tracking. On the other hand, the performance of…
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulators often lack high-level autonomy, hindering their immediate…
This paper presents modeling and simulation of a spined quadruped robot. Extended literature survey is employed and spine joints researches of the quadruped robots are classified. Most of the researchers execute simplified quadruped robot…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance…
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…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
In this paper we present a framework for the rendering of dynamic 3D virtual environments which can be integrated in the development of videogames. It includes methods to manage sounds and particle effects, paged static geometries, the…
One of the greatest challenges in the design of a real-time perception system for autonomous driving vehicles and drones is the conflicting requirement of safety (high prediction accuracy) and efficiency. Traditional approaches use a single…
Image Processing algorithms for vision-based navigation require reliable image simulation capacities. In this paper we explain why traditional rendering engines may present limitations that are potentially critical for space applications.…