相关论文: Real time multibody modeling and simulation of a s…

In this work, recently developed state-of-the-art symbolic multibody methods are tested to accurately model a complex railway vehicle. The model is generated using a symbolic implementation of the principle of the virtual power. Creep…

Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…

Simulation of complex dynamical systems arising in many applications is computationally challenging due to their size and complexity. Model order reduction, machine learning, and other types of surrogate modeling techniques offer cheaper…

Model-based reinforcement learning (MBRL) aims to learn a dynamic model to reduce the number of interactions with real-world environments. However, due to estimation error, rollouts in the learned model, especially those of long horizons,…

The BDI model proved to be effective for developing applications requiring high-levels of autonomy and to deal with the complexity and unpredictability of real-world scenarios. The model, however, has significant limitations in reacting and…

The 3D bin packing problem, with its diverse industrial applications, has garnered significant research attention in recent years. Existing approaches typically model it as a discrete and static process, while real-world applications…

Collision detection plays a key role in the simulation of interacting rigid bodies. However, owing to its computational complexity current methods typically prioritize either maximizing processing speed or fidelity to real-world behaviors.…

While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic…

Robotic code needs to be verified to ensure its safety and functional correctness, especially when the robot is interacting with people. Testing real code in simulation is a viable option. However, generating tests that cover rare…

This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications…

Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot…

Simulating real-time dynamics of gauge theories represents a paradigmatic use case to test the hardware capabilities of a quantum computer, since it can involve non-trivial input states preparation, discretized time evolution, long-distance…

Simulations of vehicle/track interaction (VTI) in switches and crossings (S\&C) require taking into account the complexity of their geometry. The VTI can be handled via a co-simulation process between a finite element (FE) model of the…

Model-free reinforcement learning (RL) has enabled adaptable and agile quadruped locomotion; however, policies often converge to a single gait, leading to suboptimal performance. Traditionally, Model Predictive Control (MPC) has been…

A realistic simulation environment is an essential tool in every roboticist's toolkit, with uses ranging from planning and control to training policies with reinforcement learning. Despite the centrality of simulation in modern robotics,…

With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…

This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…

The mobile robotic testbed is an essential and critical support to verify the effectiveness of mobile robotics research. This paper introduces a novel multi-robot testbed, named Robopheus, which exploits the ideas of virtual-physical…

Robotic manipulation policies are advancing rapidly, but their direct evaluation in the real world remains costly, time-consuming, and difficult to reproduce, particularly for tasks involving deformable objects. Simulation provides a…

This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…