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Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…
With the evolution of self-driving cars, autonomous racing series like Roborace and the Indy Autonomous Challenge are rapidly attracting growing attention. Researchers participating in these competitions hope to subsequently transfer their…
Embodiment co-design aims to optimize a robot's morphology and control policy simultaneously. While prior work has demonstrated its potential for generating environment-adaptive robots, this field still faces persistent challenges in…
The proton exchange membrane fuel cell (PEMFC) output relies on the transport behavior within the cathode gas channels. Current designs remain inadequate as they often rely on heuristic modifications of existing layouts or designer…
Finding the optimal design of a hydrodynamic or aerodynamic surface is often impossible due to the expense of evaluating the cost functions (say, with computational fluid dynamics) needed to determine the performances of the flows that the…
Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…
We introduce the optimized dynamic mode decomposition algorithm for constructing an adaptive and computationally efficient reduced order model and forecasting tool for global atmospheric chemistry dynamics. By exploiting a low-dimensional…
A novel coupled path planning and energy management problem for a hybrid unmanned air vehicle is considered, where the hybrid vehicle is powered by a dual gas/electric system. Such an aerial robot is envisioned for use in an urban setting…
Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…
Several approaches have been presented during the last decades to reduce carbon pollution from transportation. One example is the use of platooning mode. This paper considers data obtained from daily trips to investigate the impact of…
A main challenge in mechanical design is to efficiently explore the design space while satisfying engineering constraints. This work explores the use of 3D generative models to explore the design space in the context of vehicle development,…
The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
In this paper, we propose a shape optimization pipeline for propeller blades, applied to naval applications. The geometrical features of a blade are exploited to parametrize it, allowing to obtain deformed blades by perturbating their…
3D Gaussian Splatting (3DGS) has shown great potential in autonomous driving simulation and data generation, enabling photorealistic reconstruction and flexible scene manipulation. However, existing 3DGS scene editing methods have limited…
This paper presents models and optimization algorithms to jointly optimize the design and control of the transmission of electric vehicles equipped with one central electric motor (EM). First, considering the required traction power to be…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…
Aquatic creatures exhibit remarkable adaptations of their body to efficiently interact with the surrounding fluid. The tight coupling between their morphology, motion, and the environment are highly complex but serves as a valuable example…
Engineering a high-performance race car requires a direct consideration of the human driver using real-world tests or Human-Driver-in-the-Loop simulations. Apart from that, offline simulations with human-like race driver models could make…
Estimating health benefits of reducing fossil fuel use from improved air quality provides important rationales for carbon emissions abatement. Simulating pollution concentration is a crucial step of the estimation, but traditional…