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With the development of artificial intelligence techniques, transportation system optimization is evolving from traditional methods relying on expert experience to simulation and learning-based decision and optimization methods.…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
A modular, maintainable and extensible particle beam simulation architecture is presented. Design considerations for single particle, multi particle, and rms envelope simulations (in two and three dimensions) are outlined. Envelope…
Obstacle avoidance is an essential topic in the field of autonomous drone research. When choosing an avoidance algorithm, many different options are available, each with their advantages and disadvantages. As there is currently no consensus…
Traditional aerial vehicles are constrained to perform specific tasks due to their adhoc designs. Based on modularity, we propose a versatile robot, H-ModQuad, that can adapt to different tasks by increasing its load capacity and actuated…
The development of software components for autonomous driving functions should always include an extensive and rigorous evaluation. Since real-world testing is expensive and safety-critical -- especially when facing dynamic racing scenarios…
MuSim is a new user-friendly program designed to interface to many different particle simulation codes, regardless of their data formats or geometry descriptions. It presents the user with a compelling graphical user interface that includes…
Uncrewed Aerial Vehicle (UAV) research faces challenges with safety, scalability, costs, and ecological impact when conducting hardware testing. High-fidelity simulators offer a vital solution by replicating real-world conditions to enable…
This paper describes a 2D and 3D simulation engine that quantitatively models the statics, dynamics, and non-linear deformation of heterogeneous soft bodies in a computationally efficient manner. There is a large body of work simulating…
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from…
Embodied AI research is undergoing a shift toward vision-centric perceptual paradigms. While massively parallel simulators have catalyzed breakthroughs in proprioception-based locomotion, their potential remains largely untapped for…
Many interesting phenomena are characterized by the complex interaction of different physical processes, each often best modeled numerically via a specific approach. In this paper, we present the design and implementation of an…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…
Recent advances in autonomous system simulation platforms have significantly enhanced the safe and scalable testing of driving policies. However, existing simulators do not yet fully meet the needs of future transportation…
Traffic simulation software is becoming increasingly popular as more cities worldwide use it to better manage their crowded traffic networks. An important requirement for such software is the ability to produce accurate results in real…
Automated driving technologies promise substantial improvements in transportation safety, efficiency, and accessibility. However, ensuring the reliability and safety of Autonomous Vehicles in complex, real-world environments remains a…
Deep Reinforcement Learning has proved to be able to solve many control tasks in different fields, but the behavior of these systems is not always as expected when deployed in real-world scenarios. This is mainly due to the lack of domain…
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…