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Simulation-based testing represents an important step to ensure the reliability of autonomous driving software. In practice, when companies rely on third-party general-purpose simulators, either for in-house or outsourced testing, the…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Safety and cost are two important concerns for the development of autonomous driving technologies. From the academic research to commercial applications of autonomous driving vehicles, sufficient simulation and real world testing are…
Despite the rapidly growing applications of robots in industry, the use of robots to automate tasks in scientific laboratories is less prolific due to lack of generalized methodologies and high cost of hardware. This paper focuses on the…
It is imperative to develop an intrusion prevention system (IPS), specifically designed for autonomous robotic systems. This is due to the unique nature of these cyber-physical systems (CPS), which are not merely typical distributed…
The RoboRacer (F1TENTH) platform has emerged as a leading testbed for advancing autonomous driving research, offering a scalable, cost-effective, and community-driven environment for experimentation. This paper presents a comprehensive…
Musculoskeletal modeling and simulations enable the accurate description and analysis of the movement of biological systems with applications such as rehabilitation assessment, prosthesis, and exoskeleton design. However, the widespread…
Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
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…
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-scale car-like robot equipped with all the hardware needed for…
This paper introduces SMARTmBOT, an open-source mobile robot platform based on Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT, including low-cost, modular-typed, customizable and expandable design, make it an easily…
Currently, research in robotics, artificial intelligence and drones are advancing exponentially, they are directly or indirectly related to various areas of the economy, from agriculture to industry. With this context, this project covers…
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…
The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers,…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…
Path planning is an essential component of mobile robotics. Classical path planning algorithms, such as wavefront and rapidly-exploring random tree (RRT) are used heavily in autonomous robots. With the recent advances in machine learning,…
Testing of autonomous systems is extremely important as many of them are both safety-critical and security-critical. The architecture and mechanism of such systems are fundamentally different from traditional control software, which appears…
This research focused on utilizing ROS2 and Gazebo for simulating the TurtleBot3 robot, with the aim of exploring autonomous navigation capabilities. While the study did not achieve full autonomous navigation, it successfully established…
In the rapidly advancing field of robotics, dual-arm coordination and complex object manipulation are essential capabilities for developing advanced autonomous systems. However, the scarcity of diverse, high-quality demonstration data and…