相关论文: A Robot Simulation Environment for Virtual Reality…

While augmented reality shows promise for supporting human-robot collaboration, creating such interactive systems still poses great challenges. Addressing this, we introduce ARTHUR, an open-source authoring tool for augmented…

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…

Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…

The current approach to exploring and monitoring complex underwater ecosystems, such as coral reefs, is to conduct surveys using diver-held or static cameras, or deploying sensor buoys. These approaches often fail to capture the full…

Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and…

In this article, a floating robotic emulation platform for a virtual demonstration of satellite motion in space is presented. The robotic platform design is characterized by its friction-less, levitating, yet planar motion over a…

Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…

A unified mathematical model for synchronisation and swarming has recently been proposed. Each system entity, called a "swarmalator", coordinates its internal phase and location with the other entities in a way that these two attributes are…

This paper presents UAIbot, a free and open-source web-based robotics simulator designed to address the educational and research challenges conventional simulation platforms generally face. The Python and JavaScript interfaces of UAIbot…

This investigation introduces a novel deep reinforcement learning-based suite to control floating platforms in both simulated and real-world environments. Floating platforms serve as versatile test-beds to emulate micro-gravity environments…

The development of algorithms for automation of subtasks during robotic surgery can be accelerated by the availability of realistic simulation environments. In this work, we focus on one aspect of the realism of a surgical simulator, which…

This paper investigates the integration of haptic feedback and virtual reality (VR) control interfaces to enhance teleoperation and telemanipulation of underwater ROVs (remotely operated vehicles). Traditional ROV teleoperation relies on…

It is desired to equip robots with the capability of interacting with various soft materials as they are ubiquitous in the real world. While physics simulations are one of the predominant methods for data collection and robot training,…

In this paper, we present a motion-based robotic communication framework that enables non-verbal communication among autonomous underwater vehicles (AUVs) and human divers. We design a gestural language for AUV-to-AUV communication which…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Real-world deployment of new technology and capabilities can be daunting. The recent DARPA Subterranean (SubT) Challenge, for instance, aimed at the advancement of robotic platforms and autonomy capabilities in three one-year development…

Simulating realistic environments for robots is widely recognized as a critical challenge in robot learning, particularly in terms of rendering and physical simulation. This challenge becomes even more pronounced in navigation tasks, where…

As modern computing advances, new interaction paradigms have emerged, particularly in Augmented Reality (AR), which overlays virtual interfaces onto physical objects. This evolution poses challenges in machine perception, especially for…

This paper presents a novel framework enabling end-users to perform the management of complex robotic workplaces using a tablet and augmented reality. The framework allows users to commission the workplace comprising different types of…

We present an image blending pipeline, \textit{IBURD}, that creates realistic synthetic images to assist in the training of deep detectors for use on underwater autonomous vehicles (AUVs) for marine debris detection tasks. Specifically,…