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In this paper, we present a workflow for the simulation of drone operations exploiting realistic background environments constructed within Unreal Engine 4 (UE4). Methods for environmental image capture, 3D reconstruction (photogrammetry)…

Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…

Inter-vehicle communication for autonomous vehicles (AVs) stands to provide significant benefits in terms of perception robustness. We propose a novel approach for AVs to communicate perceptual observations, tempered by trust modelling of…

GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…

Eye tracking (ET) is a key enabler for Augmented and Virtual Reality (AR/VR). Prototyping new ET hardware requires assessing the impact of hardware choices on eye tracking performance. This task is compounded by the high cost of obtaining…

Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…

This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…

Conducting real road testing for autonomous driving algorithms can be expensive and sometimes impractical, particularly for small startups and research institutes. Thus, simulation becomes an important method for evaluating these…

Developing robust drone detection systems is often constrained by the limited availability of large-scale annotated training data and the high costs associated with real-world data collection. However, leveraging synthetic data generated…

There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

Realistic and diverse simulation scenarios with reactive and feasible agent behaviors can be used for validation and verification of self-driving system performance without relying on expensive and time-consuming real-world testing.…

Real-time tracking of previously unseen, highly dynamic objects in contact-rich scenes, such as during dexterous in-hand manipulation, remains a major challenge. Pure vision-based approaches often fail under heavy occlusions due to frequent…

Realistic and controllable simulation is critical for advancing end-to-end autonomous driving, yet existing approaches often struggle to support novel view synthesis under large viewpoint changes or to ensure geometric consistency. We…

Cooperative vehicle platooning applications increasingly demand realistic simulation tools to ease their validation and to bridge the gap between development and real-world deployment. However, their complexity and cost often hinder its…

Magnetic navigation systems, including magnetic tracking systems and magnetic actuation systems, have shown great potential for occlusion-free localization and remote control of intracorporeal medical devices and robots in minimally…

Data-driven algorithms have surpassed traditional techniques in almost every aspect in robotic vision problems. Such algorithms need vast amounts of quality data to be able to work properly after their training process. Gathering and…

The transportation sector significantly contributes to greenhouse gas emissions, necessitating accurate emission models to guide mitigation strategies. Despite its field validation and certification, the industry-standard Motor Vehicle…

As robotic technology rapidly develops, robots are being employed in an increasing number of fields. However, due to the complexity of deployment environments or the prevalence of ambiguous-condition objects, the practical application of…

This paper proposes FABG (Facial Affective Behavior Generation), an end-to-end imitation learning system for human-robot interaction, designed to generate natural and fluid facial affective behaviors. In interaction, effectively obtaining…