Related papers: A Systematic Comparison of Simulation Software for…
The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…
In recent years Sim2Real approaches have brought great results to robotics. Techniques such as model-based learning or domain randomization can help overcome the gap between simulation and reality, but in some situations simulation accuracy…
Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…
In a new type of automated parts-to-picker warehouse system - a Robotic Mobile Fulfillment System (RMFS) - robots are sent to transport pods (movable shelves) to human operators at stations to pick/put items from/to pods. There are many…
Controlling and monitoring complex autonomous and semi autonomous robotic systems is a challenging task. The Robot Operating System (ROS) was developed to act as a robotic middleware system running on Ubuntu Linux which allows, amongst…
Reliable contact simulation plays a key role in the development of (semi-)autonomous robots, especially when dealing with contact-rich manipulation scenarios, an active robotics research topic. Besides simulation, components such as…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
Real2Sim2Real plays a critical role in robotic arm control and reinforcement learning, yet bridging this gap remains a significant challenge due to the complex physical properties of robots and the objects they manipulate. Existing methods…
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
The deployment of complex soft robots in multiphysics environments requires advanced simulation frameworks that not only capture interactions between different types of material, but also translate accurately to real-world performance. Soft…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
Pogobots are a new type of open-source/open-hardware robots specifically designed for swarm robotics research. Their cost-effective and modular design, complemented by vibration-based and wheel-based locomotion, fast infrared communication…
Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…
The manual design of soft robots and their controllers is notoriously challenging, but it could be augmented---or, in some cases, entirely replaced---by automated design tools. Machine learning algorithms can automatically propose, test,…
Cyberbotics Ltd. develops WebotsTM, a mobile robotics simulation software that provides you with a rapid prototyping environment for modelling, programming and simulating mobile robots. The provided robot libraries enable you to transfer…
This work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2…
This letter compares the performance of four different, popular simulation environments for robotics and reinforcement learning (RL) through a series of benchmarks. The benchmarked scenarios are designed carefully with current industrial…