相关论文: Data-Driven Terramechanics Approach Towards a Real…
Navigation and mapping on the lunar surface require robust perception under challenging conditions, including poorly textured environments, high-contrast lighting, and limited computational resources. This paper presents a real-time mapping…
Future crewed missions to the Moon will face significant environmental and operational challenges, posing risks to the safety and performance of astronauts navigating its inhospitable surface. Whilst head-up displays (HUDs) have proven…
Recent advances in deep reinforcement learning (RL) based techniques combined with training in simulation have offered a new approach to developing robust controllers for legged robots. However, the application of such approaches to real…
Multirotors flying in close proximity induce aerodynamic wake effects on each other through propeller downwash. Conventional methods have fallen short of providing adequate 3D force-based models that can be incorporated into robust control…
Topographic models are essential for characterizing planetary surfaces and for inferring underlying geological processes. Nevertheless, meter-scale topographic data remain limited, which constrains detailed planetary investigations, even…
Over the past few years there has been major progress in the field of synthetic data generation using simulation based techniques. These methods use high-end graphics engines and physics-based ray-tracing rendering in order to represent the…
Numerical models based on physics represent the state-of-the-art in earth system modeling and comprise our best tools for generating insights and predictions. Despite rapid growth in computational power, the perceived need for higher model…
We present a simple, novel method of efficiently rendering ray cast soft shadows on curved terrain by using dynamic programming and maximum mipmaps to rapidly find a global minimum shadow cost in constant runtime complexity. Additionally,…
The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to generate such data sets on a physical platform. Therefore,…
Autonomous terrain classification is an important problem in planetary navigation, whether the goal is to identify scientific sites of interest or to traverse treacherous areas safely. Past Martian rovers have relied on human operators to…
Semi or completely autonomous unmanned vehicles, remotely driven or controlled through artificial intelligence, are instrumental to foster space exploration. One of the most essential tasks of a rover is terrain traversing which requires…
This paper explores the innovative use of simulation environments to enhance data acquisition and diagnostics in veterinary medicine, focusing specifically on gait analysis in dogs. The study harnesses the power of Blender and the…
Previous studies of the response of the Moon to gravitational waves have been carried out using analytical or semi-analytical models assuming ideal lunar structures. Such models are advantageous for their high-speed calculation but fail to…
Systems engineering approaches use high-level models to capture the architecture and behavior of the system. However, when safety engineers conduct safety and reliability analysis, they have to create formal models, such as fault-trees,…
Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…
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…
This paper presents and investigates a novel methodology for validating high-resolution ocean models using satellite imagery. High-resolution ocean models provide detailed information in coastal areas where other available data products are…
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…
In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…
With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development…