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In this work, we augment reinforcement learning with an inference-time collision model to ensure safe and efficient container management in a waste-sorting facility with limited processing capacity. Each container has two optimal emptying…
Autonomous systems (AS) are systems that can adapt and change their behavior in response to unanticipated events and include systems such as aerial drones, autonomous vehicles, and ground/aquatic robots. AS require a wide array of sensors,…
With advances in sensing, computing, and communication technologies, Connected and Automated Vehicles (CAVs) are becoming feasible. The advent of CAVs presents new opportunities to improve the energy efficiency of individual vehicles.…
Electrification of transport is a key strategy in reducing carbon emissions. Many countries have adopted policies of complete but gradual transformation to electric vehicles (EVs). However, mass EV adoption also means a spike in load (kW),…
Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant…
Large-scale integration of electric vehicles (EVs) leads to a tighter integration between transportation and electric energy systems. In this paper, we develop a novel integer-clustering approach to model a large number of EVs that manages…
Uncertainties in the real world mean that is impossible for system designers to anticipate and explicitly design for all scenarios that a robot might encounter. Thus, robots designed like this are fragile and fail outside of…
Despite the rapid improvement of autonomous driving technology in recent years, automotive manufacturers must resolve liability issues to commercialize autonomous passenger car of SAE J3016 Level 3 or higher. To cope with the product…
Understanding how people view and interact with autonomous vehicles is important to guide future directions of research. One such way of aiding understanding is through simulations of virtual environments involving people and autonomous…
Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…
We present Sim-on-Wheels, a safe, realistic, and vehicle-in-loop framework to test autonomous vehicles' performance in the real world under safety-critical scenarios. Sim-on-wheels runs on a self-driving vehicle operating in the physical…
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…
As autonomous vehicles slowly deploy into urban roads for limited use cases with significant edge case issues, closed facilities like marshaling yards provide a ripe case for combining lower-level vehicle autonomy with fixed infrastructure…
The large-scale access of electric vehicles to the power grid not only provides flexible adjustment resources for the power system, but the temporal uncertainty and distribution complexity of their energy interaction pose significant…
The application of the flow tracing method to power flows in and out of storage units allows to analyse the usage of this technology option in large-scale interconnected electricity systems. We apply this method to a data-driven model of…
Accomplishing safe and efficient driving is one of the predominant challenges in the controller design of connected automated vehicles (CAVs). It is often more convenient to address these goals separately and integrate the resulting…
The short-loading cycle is a repetitive task performed in high quantities, making it a great alternative for automation. In the short-loading cycle, an expert operator navigates towards a pile, fills the bucket with material, navigates to a…
As an environment-friendly substitute for conventional fuel-powered vehicles, electric vehicles (EVs) and their components have been widely developed and deployed worldwide. The large-scale integration of EVs into power grid brings both…
An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…
As the most important auxiliary transportation equipment in coal mines, mining electric locomotives are mostly operated manually at present. However, due to the complex and ever-changing coal mine environment, electric locomotive safety…