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Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
Joint human-AI inference holds immense potential to improve outcomes in human-supervised robot missions. Current day missions are generally in the AI-assisted setting, where the human operator makes the final inference based on the AI…
Digital Twin technology creates virtual replicas of physical objects, processes, or systems by replicating their properties, data, and behaviors. This advanced technology offers a range of intelligent functionalities, such as modeling,…
A thorough analysis of wheel-terrain interaction is critical to ensure the safe and efficient operation of space rovers on extraterrestrial surfaces like the Moon or Mars. This paper presents an approach for developing and experimentally…
Virtual reality (VR) technology is commonly used in entertainment applications; however, it has also been deployed in practical applications in more serious aspects of our lives, such as safety. To support people working in dangerous…
To ensure the availability and reduce the downtime of complex cyber-physical systems across different domains, e.g., agriculture and manufacturing, fault tolerance mechanisms are implemented which are complex in both their development and…
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art planetary exploration robots because of the robots'…
Digital Twins (DTs) are virtual representations of physical objects or processes that can collect information from the real environment to represent, validate, and replicate the physical twin's present and future behavior. The DTs are…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Embodying the principle of simulation intelligence, digital twin (DT) systems construct and maintain a high-fidelity virtual model of a physical system. This paper focuses on ray tracing (RT), which is widely seen as an enabling technology…
Currently, it is impossible for educators to be in multiple places simultaneously and teach each student individually. Technologies such as Extended Reality (XR) and Artificial Intelligence (AI) enable the creation of realistic educational…
The study focuses on developing a digital twin testbed tailored for public safety technologies, incorporating simulated wireless communication within the digital world. The integration enables rapid analysis of signal strength, facilitating…
Robot skill acquisition processes driven by reinforcement learning often rely on simulations to efficiently generate large-scale interaction data. However, the absence of simulation models for tactile sensors has hindered the use of tactile…
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support establishing a lunar outpost. To achieve these objectives, algorithm design choices…
Robotic non-destructive disassembly of mating parts remains challenging due to the need for flexible manipulation and the limited visibility of internal structures. This study presents an affordance-guided teleoperation system that enables…
Simulation-based reinforcement learning (RL) has significantly advanced humanoid locomotion tasks, yet direct real-world RL from scratch or adapting from pretrained policies remains rare, limiting the full potential of humanoid robots.…
Imitation learning methods need significant human supervision to learn policies robust to changes in object poses, physical disturbances, and visual distractors. Reinforcement learning, on the other hand, can explore the environment…
Robotic prospecting for critical resources on the Moon, such as ilmenite, rare earth elements, and water ice, requires robust exploration methods given the diverse terrain and harsh environmental conditions. Although numerous analog field…
Decentralised online learning enables runtime adaptation in cyber-physical multi-agent systems, but when operating conditions change, learned policies often require substantial trial-and-error interaction before recovering performance. To…
Robots are being created each year with the goal of integrating them into our daily lives. As such, there is an interest in research in evaluating the trust of humans toward robots. In addition, teleoperating robotic arms can be challenging…