Related papers: Using Dynamic Simulation in the Development of Con…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…
The agricultural industry is undergoing a significant transformation with the increasing adoption of autonomous technologies. Addressing complex challenges related to safety and security, components and validation procedures, and liability…
Achieving both optimality and safety under unknown system dynamics is a central challenge in real-world deployment of agents. To address this, we introduce a notion of maximum safe dynamics learning, where sufficient exploration is…
In this paper, the problem of tracking desired longitudinal and lateral motions for a vehicle is addressed. Let us point out that a "good" modeling is often quite difficult or even impossible to obtain. It is due for example to parametric…
Models for vehicle dynamics play an important role in maneuver planning for automated driving. They are used to derive trajectories from given control inputs, or to evaluate a given trajectory in terms of constraint violation or optimality…
Autonomous driving has been the subject of increased interest in recent years both in industry and in academia. Serious efforts are being pursued to address legal, technical and logistical problems and make autonomous cars a viable option…
Efficient performance of a number of engineering systems is achieved through different modes of operation - yielding systems described as "hybrid", containing both real-valued and discrete decision variables. Prominent examples of such…
It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D control panel design. By incorporating some…
The emergence of connected vehicles is driven by increasing customer and regulatory demands. To meet these, more complex software applications, some of which require service-based cloud and edge backends, are developed. When new software is…
The modern design of industrial structures leads to very complex simulations characterized by nonlinearities, high heterogeneities, tortuous geometries... Whatever the modelization may be, such an analysis leads to the solution to a family…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
With the increasing interplay between experimental and computational approaches at multiple length scales, new research directions are emerging in materials science and computational mechanics. Such cooperative interactions find many…
The objective of this proposal is to bridge the gap between Deep Learning (DL) and System Dynamics (SD) by developing an interpretable neural system dynamics framework. While DL excels at learning complex models and making accurate…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
End-to-end autonomous driving seeks to solve the perception, decision, and control problems in an integrated way, which can be easier to generalize at scale and be more adapting to new scenarios. However, high costs and risks make it very…
In situ robotic automation in construction is challenging due to constantly changing environments, a shortage of robotic experts, and a lack of standardized frameworks bridging robotics and construction practices. This work proposes a…
Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…
While simulation is vital for optimizing robotic systems, the cost of modeling deformable terrain has long limited its use in full-vehicle studies of off-road autonomous mobility. For example, Discrete Element Method (DEM) simulations are…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…