Related papers: Simulation Based Control Architecture Using Webots…
Modern robotics often involves the use of web technologies as a means to cope with the complexity of design and operation. Many of these technologies have been formalized into standards, which are often avoided by those in robotics and…
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…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
Verification of complex, safety-critical systems is a significant challenge. Manual testing and simulations are often used, but are only capable of exploring a subset of the system's reachable states. Formal methods are mathematically-based…
A computer simulation has to be fast to be helpful, if it is employed to study the behavior of a multicomponent dynamic system. This paper discusses modeling concepts and algorithmic techniques useful for creating such fast simulations.…
This paper presents the design and architecture of a network emulator whose links' parameters (such as delay and bandwidth) vary at different time instances. The emulator can thus be used in order to test and evaluate novel solutions for…
AUTOSAR (AUTomotive Open System ARchitecture) is an open industry standard for the automotive sector. It defines the three-layered automotive software architecture. One of these layers is the application layer, where functional behaviors…
The design (shape) of a robot is usually decided before the control is implemented. This might limit how well the design is adapted to a task, as the suitability of the design is given by how well the robot performs in the task, which…
The development of embedded systems requires formal analysis of models such as those described with MATLAB/Simulink. However, the increasing complexity of industrial models makes analysis difficult. This paper proposes a model checking…
Ensuring correctness of timed behaviors in cyber-physical systems (CPS) using closed-loop verification is challenging due to the hybrid dynamics in both systems and environments. Simulink and Stateflow are tools for model-based design that…
Tactile sensing in biological organisms is deeply intertwined with morphological form, such as human fingers, cat paws, and elephant trunks, which enables rich and adaptive interactions through a variety of geometrically complex structures.…
As simulation is increasingly used in scenario-based approaches to test Automated Driving Systems, the credibility of simulation results is a major concern. Arguably, credibility depends on the validity of the simulation setup and…
The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…
As the landscape of devices that interact with the electrical grid expands, also the complexity of the scenarios that arise from these interactions increases. Validation methods and tools are typically domain specific and are designed to…
Learning-based robotic systems demand rigorous validation to assure reliable performance, but extensive real-world testing is often prohibitively expensive, and if conducted may still yield insufficient data for high-confidence guarantees.…
Different approaches have been used in the development of system models. In addition, modeling and simulation approaches are essential for design, analysis, control, and diagnosis of complex systems. This work presents a Simulink model for…
We present an online model-based reinforcement learning algorithm suitable for controlling complex robotic systems directly in the real world. Unlike prevailing sim-to-real pipelines that rely on extensive offline simulation and model-free…
Cloud robotics has emerged as a promising technology for robotics applications due to its advantages of offloading computationally intensive tasks, facilitating data sharing, and enhancing robot coordination. However, integrating cloud…
Our goal in this work is to expand the theory and practice of robot locomotion by addressing critical challenges associated with the robotic biomimicry of bat aerial locomotion. Bats are known for their pronounced, fast wing articulations,…
Time-delay systems are an important class of dynamical systems which provide a solid mathematical framework to deal with many application domains of interest ranging from biology, chemical, electrical, and mechanical engineering, to…