相关论文: Development of a Linear Guide-Rail Testbed for Phy…

The logistics of transporting a package from a storage facility to the consumer's front door usually employs highly specialized robots often times splitting sub-tasks up to different systems, e.g., manipulator arms to sort and wheeled…

Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new…

The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…

This paper presents an implementation of a smart power system using inter-device communication and supervisory control through Simulink integrated with the physical system. This control includes features of real-time control, load…

This paper presents a Sim2Real (Simulation to Reality) approach to bridge the gap between a trained agent in a simulated environment and its real-world implementation in navigating a robot in a similar setting. Specifically, we focus on…

During the design phase of products and before going into production, it is necessary to verify the presence of mechanical plays, tolerances, and encumbrances on production mockups. This work introduces a multi-modal system that allows…

This paper presents the design, development, and application of a novel space simulation environment for rapidly prototyping and testing flight software for distributed space systems. The environment combines the flexibility, determinism,…

As autonomous driving technology is getting more and more mature today, autonomous delivery companies like Starship, Marble, and Nuro has been making progress in the tests of their autonomous delivery robots. While simulations and…

We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…

Enabling humanoid robots to perform long-horizon mobile manipulation planning in real-world environments based on embodied perception and comprehension abilities has been a longstanding challenge. With the recent rise of large language…

Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…

Robotics simulation plays an important role in the design, development, and verification and validation of robotic systems. Recent studies have shown that simulation may be used as a cheaper, safer, and more reliable alternative to manual,…

Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack…

This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…

This paper introduces MRTA-Sim, a Python/ROS2/Gazebo simulator for testing approaches to Multi-Robot Task Allocation (MRTA) problems on simulated robots in complex, indoor environments. Grid-based approaches to MRTA problems can be too…

On-orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on-orbit assembly, repair, and astronaut assistance. Of these scenarios,…

A novel multistatic multiple-input multiple-output (MIMO) integrated sensing and communication (ISAC) system in cellular networks is proposed. It can make use of widespread base stations (BSs) to perform cooperative sensing in wide area.…

Multi-degree of freedom robots are playing very important role in different applications of automation. They are providing much more accuracy in carrying out a typical procedure as compared to the manual work done by human. In recent years…

This work proposes Isogeometric Analysis as an alternative to classical finite elements for simulating electric machines. Through the spline-based Isogeometric discretization it is possible to parametrize the circular arcs exactly, thereby…