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Software engineering practices for validating autonomous cyber-physical systems (e.g., Uncrewed Aerial Vehicles) remain fragmented across scenario design, simulation execution, and telemetry analysis, limiting traceability between…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
By sharing information across multiple agents, collaborative perception helps autonomous vehicles mitigate occlusions and improve overall perception accuracy. While most previous work focus on vehicle-to-vehicle and…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
BoGEMMS, (Bologna Geant4 Multi-Mission Simulator) is a software project for fast simulation of payload on board of scientific satellites for prompt background evaluation that has been developed at the INAF/IASF Bologna. By exploiting the…
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…
Autonomous systems face the intricate challenge of navigating unpredictable environments and interacting with external objects. The successful integration of robotic agents into real-world situations hinges on their perception capabilities,…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
Autonomous drone racing is a challenging research problem at the intersection of computer vision, planning, state estimation, and control. We introduce AirSim Drone Racing Lab, a simulation framework for enabling fast prototyping of…
Collaborative perception enables vehicles to overcome individual perception limitations by sharing information, allowing them to see further and through occlusions. In real-world scenarios, models on different vehicles are often…
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
Lightweight, controllable, and physically plausible human motion synthesis is crucial for animation, virtual reality, robotics, and human-computer interaction applications. Existing methods often compromise between computational efficiency,…
Remote photoplethysmography (rPPG), which aims at measuring heart activities and physiological signals from facial video without any contact, has great potential in many applications (e.g., remote healthcare and affective computing). Recent…
How to enable agents to predict the outcomes of their own motion intentions in three-dimensional space has been a fundamental problem in embodied intelligence. To explore general spatial imagination capability, we present AirScape, the…
Automatic detection of flying drones is a key issue where its presence, especially if unauthorized, can create risky situations or compromise security. Here, we design and evaluate a multi-sensor drone detection system. In conjunction with…
Autonomously driving vehicles require a complete and robust perception of the local environment. A main challenge is to perceive any other road users, where multi-object tracking or occupancy grid maps are commonly used. The presented…
Simulation is widely used in robotics for system verification and large-scale data collection. However, simulating sensors, including tactile sensors, has been a long-standing challenge. In this paper, we propose Taxim, a realistic and…
Embedded camera systems are ubiquitous, representing the most widely deployed example of a wireless embedded system. They capture a representation of the world - the surroundings illuminated by visible or infrared light. Despite their…
Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique…
To advance research in learning-based defogging algorithms, various synthetic fog datasets have been developed. However, existing datasets created using the Atmospheric Scattering Model (ASM) or real-time rendering engines often struggle to…