Related papers: PyGemini: Unified Software Development towards Mar…
Ensuring the functional safety of motion planning modules in autonomous vehicles remains a critical challenge, especially when dealing with complex or learning-based software. Online verification has emerged as a promising approach to…
Scaling data volume and diversity is critical for generalizing embodied intelligence. While synthetic data generation offers a scalable alternative to expensive physical data acquisition, existing pipelines remain fragmented and…
Marine robots, particularly Unmanned Surface Vessels (USVs), have gained considerable attention for their diverse applications in maritime tasks, including search and rescue, environmental monitoring, and maritime security. This paper…
The potential benefits of autonomous systems have been driving intensive development of such systems, and of supporting tools and methodologies. However, there are still major issues to be dealt with before such development becomes…
Automated data-driven modeling, the process of directly discovering the governing equations of a system from data, is increasingly being used across the scientific community. PySINDy is a Python package that provides tools for applying the…
This paper explores the state of the art on to methods to verify and validate navigation algorithms for autonomous surface ships. We perform a systematic mapping study to find research works published in the last 10 years proposing new…
Visual monitoring operations underwater require both observing the objects of interest in close-proximity, and tracking the few feature-rich areas necessary for state estimation.This paper introduces the first navigation framework, called…
Recent years have seen significant progress in the realm of robot autonomy, accompanied by the expanding reach of robotic technologies. However, the emergence of new deployment domains brings unprecedented challenges in ensuring safe…
Goals are first-class entities in a self-adaptive system (SAS) as they guide the self-adaptation. A SAS often operates in dynamic and partially unknown environments, which cause uncertainty that the SAS has to address to achieve its goals.…
Vehicle computing represents a fundamental shift in how autonomous vehicles are designed and deployed, transforming them from isolated transportation systems into mobile computing platforms that support both safety-critical, real-time…
Closed-loop simulation environments play a crucial role in the validation and enhancement of autonomous driving systems (ADS). However, certain challenges warrant significant attention, including balancing simulation accuracy with duration,…
Small-sized unmanned surface vehicles (USV) are coastal water devices with a broad range of applications such as environmental control and surveillance. A crucial capability for autonomous operation is obstacle detection for timely reaction…
Transitioning from a Drive-by-Wire (DBW) system to a fully autonomous driving system (ADS) involves multiple stages of development and demands robust positioning and sensing capabilities. This paper presents a practice-driven framework for…
Autonomous Vehicles (AVs) need an accurate and up-to-date representation of the environment for safe navigation. Traditional methods, which often rely on detailed environmental representations constructed offline, struggle in dynamically…
Developing and evaluating distributed inference algorithms remains difficult due to the lack of standardized tools for modeling heterogeneous devices and networks. Existing studies often rely on ad-hoc testbeds or proprietary…
With the increasing complexity of software permeating critical domains such as autonomous driving, new challenges are emerging in the ways the engineering of these systems needs to be rethought. Autonomous driving is expected to continue…
PiDrone is a quadrotor platform created to accompany an introductory robotics course. Students build an autonomous flying robot from scratch and learn to program it through assignments and projects. Existing educational robots do not have…
Safe autonomous driving in mixed traffic requires a unified understanding of multimodal interactions and dynamic planning under uncertainty. Existing learning based approaches struggle to capture rare but safety critical behaviors, while…
We introduce and open-source the Unified Autonomy Stack, a system-level solution that enables resilient autonomy across diverse aerial and ground robot morphologies. The architecture centers on three synergistic modules -- multi-modal…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…