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The algorithms developed for Maritime Autonomous Surface Ships (MASS) are often challenging to test on actual vessels due to high operational costs and safety considerations. Simulations offer a cost-effective alternative and eliminate…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has…
Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…
Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find…
We present DAVE Aquatic Virtual Environment (DAVE), an open source simulation stack for underwater robots, sensors, and environments. Conventional robotics simulators are not designed to address unique challenges that come with the marine…
Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This…
The paper presents a novel cloud-based digital twin learning platform for teaching and training concepts of cognitive robotics. Instead of forcing interested learners or students to install a new operating system and bulky, fragile software…
Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…
In this paper, we present a cyber-physical testbed created to enable a human-robot team to perform a shared task in a shared workspace. The testbed is suitable for the implementation of a tabletop manipulation task, a common human-robot…
The COVID-19 pandemic highlighted the challenges of maintaining hands-on laboratory instruction in undergraduate physics education. In response, we developed and deployed an interactive online physics laboratory platform designed to closely…
Autonomous underwater vehicles (AUVs) are valuable for ocean exploration due to their flexibility and ability to carry communication and detection units. Nevertheless, AUVs alone often face challenges in harsh and extreme sea conditions.…
Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
Cooperative driving, enabled by communication between automated vehicle systems, promises significant benefits to fuel efficiency, road capacity, and safety over single-vehicle driver assistance systems such as adaptive cruise control…
Emerging mobility systems, e.g., connected and automated vehicles (CAVs), shared mobility, and electric vehicles, provide the most intriguing opportunity for enabling users to better monitor transportation network conditions and make better…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…