Related papers: A physics-based sensor simulation environment for …
Nowadays, autonomous cars can drive smoothly in ordinary cases, and it is widely recognized that realistic sensor simulation will play a critical role in solving remaining corner cases by simulating them. To this end, we propose an…
Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known.…
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…
This thesis presents a unified modeling and simulation framework for analyzing sidewinding and tumbling locomotion of the COBRA snake robot across rigid, compliant, and granular terrains. A contact-implicit formulation is used to model…
Wheeled rovers have been the primary choice for lunar exploration due to their speed and efficiency. However, deeper areas, such as lunar caves and craters, require the mobility of legged robots. To do so, appropriate end effectors must be…
Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…
The Jiangmen Underground Neutrino Observatory (JUNO) is a neutrino experiment to determine neutrino mass hierarchy. It has a central detector used for neutrino detection, which consists of a spherical acrylic vessel containing 20 kt LS and…
One of the main obstacles in exoplanet detection when using the radial velocity (RV) technique is the presence of stellar activity signal induced by magnetic regions. In this context, a realistic simulated dataset that can provide…
Large-scale simulation studies can provide invaluable insights across computational engineering efforts, but they are often computationally demanding, requiring the use of distributed computing, which is itself not a simple task.…
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
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…
Reducing the forces necessary to construct projects like landing pads and blast walls is possibly one of the major drivers in reducing the costs of establishing lunar settlements. The interlock drive system generates traction by penetrating…
This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…
In this paper, we present a workflow for the simulation of drone operations exploiting realistic background environments constructed within Unreal Engine 4 (UE4). Methods for environmental image capture, 3D reconstruction (photogrammetry)…
The visuomotor system of any animal is critical for its survival, and the development of a complex one within humans is large factor in our success as a species on Earth. This system is an essential part of our ability to adapt to our…
The design and evaluation of complex systems can benefit from a software simulation - sometimes called a digital twin. The simulation can be used to characterize system performance or to test its performance under conditions that are…
The next generation of spacecraft is anticipated to enable various new applications involving onboard processing, machine learning and decentralised operational scenarios. Even though many of these have been previously proposed and…
The European Large Logistics Lander (EL3) is being designed to carry out cargo delivery missions in support of future lunar ground crews. The capacity of virtual reality (VR) to visualize and interactively simulate the unique lunar…
This paper describes a high-fidelity sonar model and a simulation environment that implements the model. The model and simulation environment have been developed to aid in the design of a forward looking sonar for autonomous underwater…