Related papers: A physics-based sensor simulation environment for …
Continuum robots are advancing bronchoscopy procedures by accessing complex lung airways and enabling targeted interventions. However, their development is limited by the lack of realistic training and test environments: Real data is…
Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…
This paper presents a digital-twin platform for active safety analysis in mixed traffic environments. The platform is built using a multi-modal data-enabled traffic environment constructed from drone-based aerial LiDAR, OpenStreetMap, and…
Soft-growing robots (i.e., vine robots) are a promising class of soft robots that allow for navigation and growth in tightly confined environments. However, these robots remain challenging to model and control due to the complex interplay…
The preparation of science objectives of the ESA's PLATO space mission will require the implementation of hare-and-hound exercises relying on the massive generation of representative simulated light-curves. We developed a light-curve…
Developing excavation autonomy is challenging given the environments where excavators operate, the complexity of physical interaction and the degrees of freedom of operation of the excavator itself. Simulation is a useful tool to build…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Sampling autonomy for icy moon lander missions requires understanding of topographic and photometric properties of the sampling terrain. Unavailability of high resolution visual datasets (either bird-eye view or point-of-view from a lander)…
Simulation is an important step in robotics for creating control policies and testing various physical parameters. Soft robotics is a field that presents unique physical challenges for simulating its subjects due to the nonlinearity of…
Neutrino telescopes are gigaton-scale neutrino detectors comprised of individual light-detection units. Though constructed from simple building blocks, they have opened a new window to the Universe and are able to probe center-of-mass…
Despite well-reported instances of robots being used in disaster response, there is scant published data on the internal composition of the void spaces within structural collapse incidents. Data collected during these incidents is mired in…
Simulating optical tactile sensors presents significant challenges due to their high deformability and intricate optical properties. To address these issues and enable a physically accurate simulation, we propose DOT-Sim: Differentiable…
Sintering, as a thermal process at elevated temperature below the melting point, is widely used to bond contacting particles into engineering products such as ceramics, metals, polymers, and cemented carbides. Modelling and simulation as…
The rapidly increasing share of fluctuating electricity from photovoltaics calls for accurate approaches to estimate cloud motion, the primary source for the varying power supply. While local sensor networks are prominent in targeting…
The Distributed Electronic Cosmic-ray Observatory (DECO) is a cell phone app that uses a cell phone camera image sensor to detect cosmic-ray particles and particles from radioactive decay. Images recorded by DECO are classified by a…
The discovery of ice deposits in the permanently shadowed craters of the lunar North and South Pole Moon presents an important opportunity for In-Situ Resource Utilization. These ice deposits maybe the source for sustaining a lunar base or…
Soft growing robots, commonly referred to as vine robots, have demonstrated remarkable ability to interact safely and robustly with unstructured and dynamic environments. It is therefore natural to exploit contact with the environment for…
Previous observations of Phobos and Deimos, the moons of Mars, have improved our understanding of these small bodies. However, their formation and composition remain poorly constrained. Physical and spectral properties suggest that Phobos…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
This paper presents Virtual Simulation Objects (VSO) concept which forms theoretical basis for building tools and framework that is developed for system-level simulations using existing software modules available within…