相关论文: A physics-based sensor simulation environment for …

We tackle the problem of producing realistic simulations of LiDAR point clouds, the sensor of preference for most self-driving vehicles. We argue that, by leveraging real data, we can simulate the complex world more realistically compared…

Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…

Physics driven image simulation allows for the modeling and creation of realistic imagery beyond what is afforded by typical rendering pipelines. We aim to automatically generate a physically realistic scene for simulation of a given region…

We discuss prospects of using multi-dimensional time-dependent simulations to study the atmospheres of brown dwarfs and extrasolar giant planets, including the processes of convection, radiation, dust formation, and rotation. We argue that…

Reliable autonomous navigation across the unstructured terrains of distant planetary surfaces is a critical enabler for future space exploration. However, the deployment of learning-based controllers is hindered by the inherent sim-to-real…

The modeling and simulation of heat source trajectories through phase-change materials is a relevant problem both for space exploration and for terrestrial climate research, among other fields. In space, the DLR and NASA are both interested…

Accurate positioning, navigation and timing (PNT) are crucial for upcoming lunar surface missions. Lunar satellite navigation systems are being developed, but lack coverage during early deployment phases. Hybrid lunar PNT combining…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Lunar exploration has become a key focus, driving scientific and technological advances. Ongoing missions are deploying rovers to the surface of the Moon, targeting the far side and south pole. However, these terrains pose challenges,…

Systems for transport and processing of granular media are challenging to analyse, operate and optimise. In the mining and mineral processing industries these systems are chains of processes with complex interplay between the equipment,…

This article describes a software package called ROS georegistration intended for use with the Robot Operating System (ROS) and the Gazebo 3D simulation environment. ROSgeoregistration provides tools for the simulation, test and deployment…

Automotive Simulation is a potentially cost-effective strategy to identify and test corner case scenarios in automotive perception. Recent work has shown a significant shift in creating realistic synthetic data for road traffic scenarios…

We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…

Emergence of smartphone and the participatory sensing (PS) paradigm have paved the way for a new variant of pervasive computing. In PS, human user performs sensing tasks and generates notifications, typically in lieu of incentives. These…

We discuss some examples where numerical simulations based on effectively fabricated nanostructures can provide additional insights into an experiment. Focusing on plasmonics, we study Fano resonant systems for optical trapping, realistic…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

Simulation-based testing is a promising approach to significantly reduce the validation effort of automated driving functions. Realistic models of environment perception sensors such as camera, radar and lidar play a key role in this…

Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore…

Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…