Related papers: Simulation-Based Optimization of High-Performance …
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
Vehicle platooning has attracted increasing attention as a promising approach to improve traffic efficiency, energy consumption, and roadway safety through coordinated multi-vehicle operation. A key challenge in platooning lies in…
An emerging paradigm is being embraced in the conceptualization of future planetary exploration missions. Ambitious objectives and increasingly demanding mission constraints stress the importance associated with faster surface mobility.…
Currently, various hardware and software companies are developing augmented reality devices, most prominently Microsoft with its Hololens. Besides gaming, such devices can be used for serious pervasive applications, like interactive mobile…
Real-life control tasks involve matters of various substances---rigid or soft bodies, liquid, gas---each with distinct physical behaviors. This poses challenges to traditional rigid-body physics engines. Particle-based simulators have been…
Coupled natural systems are generally modeled at multiple abstraction levels. Both structural scale and behavioral complexity of these models are determinants in the kinds of questions that can be posed and answered. As scale and complexity…
Use of physics-based simulation as a planning model enables a planner to reason and generate plans that involve non-trivial interactions with the world. For example, grasping a milk container out of a cluttered refrigerator may involve…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
Legged locomotion is not just about mobility; it also encompasses crucial objectives such as energy efficiency, safety, and user experience, which are vital for real-world applications. However, key factors such as battery power consumption…
Designing and validating sensor applications and algorithms in simulation is an important step in the modern development process. Furthermore, modern open-source multi-sensor simulation frameworks are moving towards the usage of video-game…
We present a method for path optimization for ground vehicles in off-road environments at high speeds. This path optimization considers the kinematic constraints of the vehicle. By thinking in the actuator space we can represent these…
We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…
A computer simulation has to be fast to be helpful, if it is employed to study the behavior of a multicomponent dynamic system. This paper discusses modeling concepts and algorithmic techniques useful for creating such fast simulations.…
Pushing is a motion primitive useful to handle objects that are too large, too heavy, or too cluttered to be grasped. It is at the core of much of robotic manipulation, in particular when physical interaction is involved. It seems…
Sediment transport over an erodible sediment bed is studied by particle resolved simulations with a hybrid parallel approach. To overcome the challenges of load imbalance in the traditional domain decomposition method when encountering…
Physics-based reinforcement learning tasks can benefit from simplified physics simulators as they potentially allow near-optimal policies to be learned in simulation. However, such simulators require the latent factors (e.g. mass, friction…
In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…
This paper presents a new ridesharing simulation platform that accounts for dynamic driver supply and passenger demand, and complex interactions between drivers and passengers. The proposed simulation platform explicitly considers driver…
This research presents a Load Profile Generator model for non-road mobile machinery, which depicts the most common operational profiles that reflect real-world conditions. This technological bottom-up model enables users to parameterize…
As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to…