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When an external field drives a colloidal system out of equilibrium, the ensuing colloidal response can be very complex and obtaining a detailed physical understanding often requires case-by-case considerations. In order to facilitate…
Enhanced sampling techniques have become an essential tool in computational chemistry and physics, where they are applied to sample activated processes that occur on a time scale that is inaccessible to conventional simulations. Despite…
Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…
Driving under varying road conditions is challenging, especially for autonomous vehicles that must adapt in real-time to changes in the environment, e.g., rain, snow, etc. It is difficult to apply offline learning-based methods in these…
Autonomous coverage has tremendous importance for environmental surveying and exploration tasks performed on rivers both in terms of efficiency and data collection quality. Most surveys of rivers are performed manually using quite similar…
Global climate models are essential tools to simulate past and potential future pathways of climate change, as well as associated climate impacts. Shared Socioeconomic Pathways (SSPs) describe a range of future scenarios of global economic…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
Isotropic covariance structures can be unreasonable for phenomena in three-dimensional spaces such as the ocean. In the ocean, the variability of the response may vary with depth, and ocean currents may lead to spatially varying anisotropy.…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Constructing a spatial map of environmental parameters is a crucial step to preventing hazardous chemical leakages, forest fires, or while estimating a spatially distributed physical quantities such as terrain elevation. Although prior…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
This paper discusses ongoing work in demonstrating research in mobile autonomy in challenging driving scenarios. In our approach, we address fundamental technical issues to overcome critical barriers to assurance and regulation for…
We present the concept of concurrent flow-based localization and mapping (FLAM) for autonomous field robots navigating within background flows. Different from the classical simultaneous localization and mapping (SLAM) problem, where the…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
We present the results of experiments performed using a team of small autonomous underwater vehicles (AUVs) to determine the location of an isobath. The primary contributions of this work are (1) the development of a novel objective…
Non-navigable rivers and retention ponds play important roles in buffering communities from flooding, yet emergency planners often have no data as to the volume of water that they can carry before flooding the surrounding. This paper…
Purpose: Depending on the road surface profile, moving speed, transport weight, etc., the vehicle's body acceleration and dynamic load coefficient change as it moves. This study's goal is to ascertain the result of the road surface's…
Because of its nonequilibrium character, active matter in a steady state can drive engines that autonomously deliver work against a constant mechanical force or torque. As a generic model for such an engine, we consider systems that contain…