Related papers: Simulation-Based Optimization of High-Performance …
The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to characterize the frictional contact between a wheel and…
For ensuring vehicle safety, the impact performance of wheels during wheel development must be ensured through a wheel impact test. However, manufacturing and testing a real wheel requires a significant time and money because developing an…
For realistic geodynamo simulations, one must solve the magnetohydrodynamic equations to follow time development of thermal convection motion of electrically conducting fluid in a rotating spherical shell. We have developed a new geodynamo…
Traffic congestion and collisions represent significant economic, environmental, and social challenges worldwide. Traditional traffic management approaches have shown limited success in addressing these complex, dynamic problems. To address…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
As autonomous driving systems being deployed to millions of vehicles, there is a pressing need of improving the system's scalability, safety and reducing the engineering cost. A realistic, scalable, and practical simulator of the driving…
Granular materials are of critical interest to many robotic tasks in planetary science, construction, and manufacturing. However, the dynamics of granular materials are complex and often computationally very expensive to simulate. We…
Quantum chemistry and materials science are among the most promising areas for demonstrating algorithmic quantum advantage and quantum utility due to their inherent quantum mechanical nature. Still, large-scale simulations of quantum…
Off-road navigation on vertically challenging terrain, involving steep slopes and rugged boulders, presents significant challenges for wheeled robots both at the planning level to achieve smooth collision-free trajectories and at the…
On-demand ride services or ride-sourcing services have been experiencing fast development in the past decade. Various mathematical models and optimization algorithms have been developed to help ride-sourcing platforms design operational…
Inspired by recent promising results in sim-to-real transfer in deep learning we built a realistic simulation environment combining a Robot Operating System (ROS)-compatible physics simulator (Gazebo) with Cycles, the realistic production…
We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical…
In this work, we consider a multi-wheeled payload transport system. Each of the wheels can be selectively actuated. When they are not actuated, wheels are free moving and do not consume battery power. The payload transport system is modeled…
Traffic simulation is an essential tool for transportation infrastructure planning, intelligent traffic control policy learning, and traffic flow analysis. Its effectiveness relies heavily on the realism of the simulators used. Traditional…
We propose a simulation-based approach for performance modeling of parallel applications on high-performance computing platforms. Our approach enables full-system performance modeling: (1) the hardware platform is represented by an abstract…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…
Optimal control of wheel loaders in short loading cycles is studied in this paper. For modeling the wheel loader, the data from a validated diesel engine model is used to find a control oriented mean value engine model. The driveline is…
Developing safety and efficiency applications for Connected and Automated Vehicles (CAVs) require a great deal of testing and evaluation. The need for the operation of these systems in critical and dangerous situations makes the burden of…
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…