Related papers: Testing and Evaluation of Underwater Vehicle Using…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…
Today ship hull inspection including the examination of the external coating, detection of defects, and other types of external degradation such as corrosion and marine growth is conducted underwater by means of Remotely Operated Vehicles…
Hybrid Unmanned Aerial Underwater Vehicles (HUAUVs) have emerged as platforms capable of operating in both aerial and underwater environments, enabling applications such as inspection, mapping, search, and rescue in challenging scenarios.…
Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in…
This paper presents a hardware-in-the-loop (HIL) verification system for intelligent, camera-based in-body medical devices. A case study of a Video Capsule Endoscopy (VCE) prototype is used to illustrate the system's functionality. The…
Deep Reinforcement Learning (Deep-RL) techniques for motion control have been continuously used to deal with decision-making problems for a wide variety of robots. Previous works showed that Deep-RL can be applied to perform mapless…
This paper presents a reinforcement learning (RL) environment for developing an autonomous underwater robotic coral sampling agent, a crucial coral reef conservation and research task. Using software-in-the-loop (SIL) and…
Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2…
Present grid infrastructure is unprepared for the wide-scale integration of electric vehicles (EVs). Real-time grid simulation and hardware testing are necessary for the fast and accurate development of EV charging control strategies that…
Electronic control systems are becoming more and more complicated, which makes it difficult to test them sufficiently only through experiments. Simulation is an efficient way in the development and testing of complex electronic systems, but…
This work provides an extension of Ardupilot's capabilities to allow researchers to develop swarm robotics applications in Robot Operating System(ROS)/Gazebo simulations. Ardupilot is a tool used for autopilot functions in autonomous air,…
Maritime Autonomous Surface Ships (MASS) have emerged as a promising solution to enhance navigational safety, operational efficiency, and long-term cost effectiveness. However, their reliable deployment requires rigorous verification and…
We designed and validated a novel simulator for efficient development of multi-robot marine missions. To accelerate development of cooperative behaviors, the simulator models the robots' operating conditions with moderately high fidelity…
Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that…
Surgical robot automation has attracted increasing research interest over the past decade, expecting its potential to benefit surgeons, nurses and patients. Recently, the learning paradigm of embodied intelligence has demonstrated promising…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
Self-adaptation is a crucial feature of autonomous systems that must cope with uncertainties in, e.g., their environment and their internal state. Self-adaptive systems are often modelled as two-layered systems with a managed subsystem…