相关论文: Using Dynamic Simulation in the Development of Con…

In dynamic simulation of complete wheel loaders, one interesting aspect, specific for the working task, is the momentary power distribution between drive train and hydraulics, which is balanced by the operator. This paper presents the…

Prediction and optimisation of a wheel loader's dynamic behaviour is a challenge due to tightly coupled, non-linear subsystems of different technical domains. Furthermore, a simulation regarding performance, efficiency, and operability…

This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…

Simulation is an integral part in the process of developing autonomous vehicles and advantageous for training, validation, and verification of driving functions. Even though simulations come with a series of benefits compared to real-world…

An open question in autonomous driving is how best to use simulation to validate the safety of autonomous vehicles. Existing techniques rely on simulated rollouts, which can be inefficient for finding rare failure events, while other…

In the past two decades, autonomous driving has been catalyzed into reality by the growing capabilities of machine learning. This paradigm shift possesses significant potential to transform the future of mobility and reshape our society as…

Autonomous driving vehicles provide a vast potential for realizing use cases in the on-road and off-road domains. Consequently, remarkable solutions exist to autonomous systems' environmental perception and control. Nevertheless, proof of…

Having smart and autonomous earthmoving in mind, we explore high-performance wheel loading in a simulated environment. This paper introduces a wheel loader simulator that combines contacting 3D multibody dynamics with a hybrid…

Here, we present the concept of an open virtual prototyping framework for maritime systems and operations that enables its users to develop re-usable component or subsystem models, and combine them in full-system simulations for…

As the automotive industry focuses its attention more and more towards the software functionality of vehicles, techniques to deliver new software value at a fast pace are needed. Continuous Experimentation, a practice coming from the…

This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…

The design and analysis of systems that combine computational behaviour with physical processes' continuous dynamics - such as movement, velocity, and voltage - is a famous, challenging task. Several theoretical results from programming…

Automated and robotic ground-vehicle solutions are gradually becoming part of the agricultural industry, where they are used for performing tasks such as feeding, herding, planting, harvesting, and weed spraying. Agricultural machinery…

Using Reinforcement Learning (RL) in simulation to construct policies useful in real life is challenging. This is often attributed to the sequential decision making aspect: inaccuracies in simulation accumulate over multiple steps, hence…

This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…

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,…

This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…

Designing a controller for autonomous vehicles capable of providing adequate performance in all driving scenarios is challenging due to the highly complex environment and inability to test the system in the wide variety of scenarios which…

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern…

Simulation is a prospective method for generating diverse and realistic traffic scenarios to aid in the development of driving decision-making systems. However, existing simulators often fall short in diverse scenarios or interactive…