相关论文: SMaRCSim: Maritime Robotics Simulation Modules
Underwater vehicle-manipulator systems (UVMSs) are underwater robots equipped with one or more manipulators to perform intervention missions. This paper provides the mechanical, electrical, and software design of a novel UVMS equipped with…
Reinforcement Learning (RL) is a promising solution, allowing Unmanned Underwater Vehicles (UUVs) to learn optimal behaviors through trial and error. However, existing simulators lack efficient integration with RL methods, limiting training…
Simulation especially real-time simulation have been widely used for the design and testing of real-time systems. The advancement of simulation tools has largely attributed to the evolution of computing technologies. With the reduced cost…
Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed…
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…
The growing ambition for space exploration demands robust autonomous systems that can operate in unstructured environments under extreme extraterrestrial conditions. The adoption of robot learning in this domain is severely hindered by the…
Robotic simulators play a crucial role in the development and testing of autonomous systems, particularly in the realm of Uncrewed Aerial Vehicles (UAV). However, existing simulators often lack high-level autonomy, hindering their immediate…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
To extend the limited scope of autonomy used in prior missions for operation in distant and complex environments, there is a need to further develop and mature autonomy that jointly reasons over multiple subsystems, which we term…
Developing learning-based methods for navigation of aerial robots is an intensive data-driven process that requires highly parallelized simulation. The full utilization of such simulators is hindered by the lack of parallelized high-level…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Current social navigation methods and benchmarks primarily focus on proxemics and task efficiency. While these factors are important, qualitative aspects such as perceptions of a robot's social competence are equally crucial for successful…
Semantic navigation is necessary to deploy mobile robots in uncontrolled environments like our homes, schools, and hospitals. Many learning-based approaches have been proposed in response to the lack of semantic understanding of the…
Localization and mapping are core perceptual capabilities for underwater robots. Stereo cameras provide a low-cost means of directly estimating metric depth to support these tasks. However, despite recent advances in stereo depth estimation…
Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
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…