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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…
Due to decelerating gains in single-core CPU performance, computationally expensive simulations are increasingly executed on highly parallel hardware platforms. Agent-based simulations, where simulated entities act with a certain degree of…
Object-oriented programming (OOP) has long been regarded as too inefficient for SIMD high-performance computing, despite the fact that many important HPC applications have an inherent object structure. We discovered a broad subset of OOP…
Distributed Constraint Optimization Problems (DCOPs) are a widely studied constraint handling framework. The objective of a DCOP algorithm is to optimize a global objective function that can be described as the aggregation of a number of…
Roborobo! is a multi-platform, highly portable, robot simulator for large-scale collective robotics experiments. Roborobo! is coded in C++, and follows the KISS guideline ("Keep it simple"). Therefore, its external dependency is solely…
This paper presents a multi-swarm PSO algorithm for the Quadratic Assignment Problem (QAP) implemented on OpenCL platform. Our work was motivated by results of time efficiency tests performed for single-swarm algorithm implementation that…
Reinforcement learning (RL) has shown promise in creating robust policies for robotics tasks. However, contemporary RL algorithms are data-hungry, often requiring billions of environment transitions to train successful policies. This…
Motivated by the large-scale nature of modern aerospace engineering simulations, this paper presents a detailed description of distributed Operator Inference (dOpInf), a recently developed parallel algorithm designed to efficiently…
This article introduces a highly parallel algorithm for molecular dynamics simulations with short-range forces on single node multi- and many-core systems. The algorithm is designed to achieve high parallel speedups for strongly…
Among the available solutions for drone swarm simulations, we identified a gap in simulation frameworks that allow easy algorithms prototyping, tuning, debugging and performance analysis, and do not require the user to interface with…
Currently, agent-based simulation frameworks force the user to choose between simulations involving a large number of agents (at the expense of limited agent reasoning capability) or simulations including agents with increased reasoning…
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…
In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…
With the advancement of modern robotics, autonomous agents are now capable of hosting sophisticated algorithms, which enables them to make intelligent decisions. But developing and testing such algorithms directly in real-world systems is…
Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
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…
We accelerate deep reinforcement learning-based training in visually complex 3D environments by two orders of magnitude over prior work, realizing end-to-end training speeds of over 19,000 frames of experience per second on a single GPU and…
The design of a parallel computing system using several thousands or even up to a million processors asks for processing units that are simple and thus small in space, to make as many processing units as possible fit on a single die. The…
The overwhelmingly increasing amount of stored data has spurred researchers seeking different methods in order to optimally take advantage of it which mostly have faced a response time problem as a result of this enormous size of data. Most…