相关论文: A physics-based sensor simulation environment for …
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…
As robots increasingly coexist with humans, they must navigate complex, dynamic environments rich in visual information and implicit social dynamics, like when to yield or move through crowds. Addressing these challenges requires…
The wheel-soil interaction has great impact on the dynamics of off-road vehicles in terramechanics applications. The Soil Contact Model (SCM), which anchors an empirical method to characterize the frictional contact between a wheel and…
A new generation of exoplanet research beckons and with it the need for simulation tools that accurately predict signal and noise in transit spectroscopy observations. We developed ExoSim: an end-to-end simulator that models noise and…
Different outdoor illumination conditions drastically alter the appearance of urban scenes, and they can harm the performance of image-based robot perception systems if not seen during training. Camera simulation provides a cost-effective…
The solar wind plasma from the Sun interacts with the Moon, generating a wake structure behind it, since the Moon is to a good approximation an insulator, has no intrinsic magnetic field and a very thin atmosphere. The lunar wake in…
Many kinds of industrial projects involve the use of prefabricated modules built offsite, and installation on-site using mobile cranes. Due to their costly operation and safety concerns, utilization of such heavy lift mobile cranes requires…
An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations…
External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…
The physical state of the lunar soil in the permanently shadowed craters of the moon is inferred from experimental investigation. The permanently shadowed craters do not undergo the same thermal cycling experienced by other parts of the…
The simulation of vibrational energy transport and quantum thermodynamics with trapped ions requires good methods for the estimation of temperatures. One valuable tool for this purpose is based on the fit of dark resonances in the…
Automation driving techniques have seen tremendous progresses these last years, particularly due to a better perception of the environment. In order to provide safe yet not too conservative driving in complex urban environment, data fusion…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…
The preparation of a space-mission that carries out any kind of imaging to detect high-precision low-amplitude variability of its targets requires a robust model for the expected performance of its instruments. This model cannot be derived…
We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics and vehicle autonomy engineering. The software is…
Deep-sea robot operations demand a high level of safety, efficiency and reliability. As a consequence, measures within the development stage have to be implemented to extensively evaluate and benchmark system components ranging from data…
In the companion paper ("Erosion rate of lunar soil under a landing rocket, part 1: identifying the rate-limiting physics", this issue) an equation was developed for the rate that lunar soil erodes under the exhaust of a landing rocket.…
Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…