Related papers: Practice Makes Perfect: A Study of Digital Twin Te…
The collaboration between humans and robots re-quires a paradigm shift not only in robot perception, reasoning, and action, but also in the design of the robotic cell. This paper proposes an optimization framework for designing…
This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…
With the rapid advance of sophisticated control algorithms, the capabilities of drones to stabilise, fly and manoeuvre autonomously have dramatically improved, enabling us to pay greater attention to entire missions and the interaction of a…
The rapid evolution of 5G and beyond has advanced space-air-terrestrial networks, with unmanned aerial vehicles (UAVs) offering enhanced coverage, flexible configurations, and cost efficiency. However, deploying UAV-based systems presents…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on either visual realism or physical accuracy, which limits their…
In an era marked by renewed interest in lunar exploration and the prospect of establishing a sustainable human presence on the Moon, innovative approaches supporting mission preparation and astronaut training are imperative. To this end,…
Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…
Multi-agent reinforcement learning (MARL) for cyber-physical vehicle systems usually requires a significantly long training time due to their inherent complexity. Furthermore, deploying the trained policies in the real world demands a…
Deep learning models have created great opportunities for data-driven fault diagnosis but they require large amount of labeled failure data for training. In this paper, we propose to use a digital twin to support developing data-driven…
In the context of Industry 4.0, the physical and digital worlds are closely connected, and robots are widely used to achieve system automation. Digital twin solutions have contributed significantly to the growth of Industry 4.0. Combining…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
Creating a digital world that closely mimics the real world with its many complex interactions and outcomes is possible today through advanced emulation software and ubiquitous computing power. Such a software-based emulation of an entity…
Digital Twin technology is being envisioned to be an integral part of the industrial evolution in modern generation. With the rapid advancement in the Internet-of-Things (IoT) technology and increasing trend of automation, integration…
In the context of communication networks, digital twin technology provides a means to replicate the radio frequency (RF) propagation environment as well as the system behaviour, allowing for a way to optimize the performance of a deployed…
This article presents a digital twin (DT)-enhanced reinforcement learning (RL) framework aimed at optimizing performance and reliability in network resource management, since the traditional RL methods face several unified challenges when…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
The use of eXtended Reality (XR) technologies in the space domain has increased significantly over the past few years as it can offer many advantages when simulating complex and challenging environments. Space agencies are currently using…