相关论文: Data-Driven Terramechanics Approach Towards a Real…

Numerical models are widely used to simulate the earth system, but they are computationally expensive and often depend on many uncertain input parameters. Their effective use requires calibration and uncertainty quantification, which…

We address the problem of estimating realistic, spatially varying reflectance for complex planetary surfaces such as the lunar regolith, which is critical for high-fidelity rendering and vision-based navigation. Existing lunar rendering…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Impact flashes on the moon are caused by high-speed collisions of celestial bodies with the lunar surface. The study of the impacts is critical for exploring the evolutionary history and formation of the Moon, and for quantifying the risk…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

In this work, we present a hybrid simulator for space docking and robotic proximity operations methodology. This methodology also allows for the emulation of a target robot operating in a complex environment by using an actual robot. The…

Autonomous driving system development is critically dependent on the ability to replay complex and diverse traffic scenarios in simulation. In such scenarios, the ability to accurately simulate the vehicle sensors such as cameras, lidar or…

This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…

This paper aims to enhance the efficiency of validation and verification campaigns involving fuel sloshing phenomena. Our first contribution is the development of an open-source, high-fidelity and computationally efficient two-dimensional…

Vision-Based Tactile Sensors (VBTS) are essential for achieving dexterous robotic manipulation, yet the tactile sim-to-real gap remains a fundamental bottleneck. Current tactile simulations suffer from a persistent dilemma: simplified…

Slip detection is of fundamental importance for the safety and efficiency of rovers driving on the surface of extraterrestrial bodies. Current planetary rover slip detection systems rely on visual perception on the assumption that…

Seismic measurements are an important tool for exploration of planetary interiors, but may not be included in missions due to perceived complexity in placement of sensitive instruments on the surface. To help address this concern, we assess…

This paper discusses Chrono's Continuous Representation Model (called herein Chrono::CRM), a general-purpose, scalable, and efficient simulation solution for terramechanics problems. Built on Chrono's Smoothed Particle Hydrodynamics (SPH)…

In this work, a terrain estimation framework is developed for autonomous vehicles operating on deformable terrains. Previous work in this area usually relies on steady state tire operation, linearized classical terramechanics models, or on…

Engineering and applied sciences use models of increasing complexity to simulate the behaviour of manufactured and physical systems. Propagation of uncertainties from the input to a response quantity of interest through such models may…

Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…

Reliable simulation evaluation of robot manipulation policies serves as a high-fidelity proxy for real-world performance. Although existing benchmarks cover a wide range of task categories, they lack visual realism, creating a large domain…

Driving simulation plays a crucial role in developing reliable driving agents by providing controlled, evaluative environments. To enable meaningful assessments, a high-quality driving simulator must satisfy several key requirements:…

We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…