The utilisation of robots in hazardous nuclear environments has potential to reduce risk to humans. However, historical use has been largely limited to specific missions rather than broader industry-wide adoption. Testing and verification of robotics...
This paper presents a new synthetic dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on different natural environments. To this end, a Husky mobile robot equipped with a tridimensional (3D) Light Detection and Rangi...
With the advantages of long-range flight and high payload capacity, large fixed-wing UAVs are often used in anti-terrorism missions, disaster surveillance, and emergency supply delivery. In the existing research, there is little research on the 3D mo...
This paper introduces a structured methodology for bridging the gap between theoretical modeling and high-fidelity simulation of multirotor Unmanned Aerial Systems (UAS) through the construction of digital twins in PX4 v1.12 Software-in-the-Loop (SIT...
While sonar sensors are crucial for underwater robotics perception, the key challenge lies in traditional multibeam sonar simulation’s lack of comprehensive physics-based interaction models. Such missing physical aspects lead to sonar imagery d...
The increasing popularity of drones for Internet of Things (IoT) applications has led to significant research interest in autonomous navigation within unknown and dynamic environments. Researchers are utilizing supervised learning techniques that rel...
This paper proposes the modeling and simulation of the unmanned driving system for underground load haul dump vehicles based on Gazebo/Ros. Firstly, the kinematics model of the load haul dump vehicle is derived. Then, the model of each part of the lo...
Robotics simulation is a key enabler for automation and control development, allowing safer experimentation, faster design iterations, and reduced development cost. Nevertheless, the current simulator ecosystem is highly fragmented, spanning open-sou...
Path planning is a key task in mobile robots, and the application of Deep Q Network (DQN) algorithm for mobile robot path planning has become a hotspot and challenge in current research. In order to solve the obstacle avoidance limitations faced by t...
The agriculture industry is in need of substantially increasing crop yield to meet growing global demand. Selective breeding programs can accelerate crop improvement but collecting phenotyping data is time- and labor-intensive because of the size of...
This paper proposes AutoRL, a high-fidelity Robot Operating System 2 (ROS2)–Gazebo simulation pipeline that addresses a critical reproducibility gap in learning-based flight control: existing reinforcement learning (RL) frameworks for unmanned...
With the global increase in maritime activities, the frequency of maritime accidents has risen, underscoring the urgent need for faster and more efficient search and rescue (SAR) solutions. This study presents an intelligent unmanned aerial vehicle (...
Using unmanned aerial vehicles (UAVs) for remote sensing has the advantages of high flexibility, convenient operation, low cost, and wide application range. It fills the need for rapid acquisition of high-resolution aerial images in modern photogramm...
Although many studies have validated wave energy converter (WEC) numerical models against scaled prototype experimental data, there remains a notable lack of validation using data from full-scale deployed WECs. This paper compares two numerical model...
This paper presents a modular, high-fidelity simulation framework for the autonomous navigation of omnidirectional mobile robots using visual localization with AprilTags. The proposed system integrates realistic robot dynamics, a dual-layer path plan...
Background/Objectives: Ankle dorsiflexion plays a fundamental role in gait stability, impact absorption, and the stance-to-swing transition, and its impairment is a major limitation in transtibial prostheses. This study proposes and evaluates a light...
This paper proposes a multi-sensor fusion autonomous navigation method integrating a nine-axis IMU, the Leishen C16 mechanical LiDAR, and the LakiBeam1L single-line LiDAR, aimed at addressing issues such as track slippage and positioning drift that c...
The deployment of offshore wind turbines (WTs) has emerged as a pivotal strategy in the transition to renewable energy, offering significant potential for clean electricity generation. However, these structures’ operation and maintenance (O&...
The development of an effective agricultural robot presents various challenges in actuation, localization, navigation, sensing, etc., depending on the prescribed task. Moreover, when multiple robots are engaged in an agricultural task, this requires...
This study benchmarks three ROS 2 Navigation2 local controllers—Dynamic Window Approach Based (DWB), Regulated Pure Pursuit (RPP), and Model Predictive Path Integral (MPPI)—under three complementary operational stressors in simulation: (i...
An optimized robot path-planning algorithm is required for various aspects of robot movements in applications. The efficacy of the robot path-planning model is vulnerable to the number of search nodes, path cost, and time complexity. The conventional...
Electrical power substations are visually complex and safety-critical environments with restricted access and highly variable lighting; a digital twin (DT) framework provides a controlled and repeatable context for developing and validating vision-ba...
Recently, electric vertical take-off and landing (eVTOL) aircraft have become a top priority for urban air transportation due to their ability to overcome urban ground traffic congestion. In this research, a new type of scaled lift–cruise &lsqu...
The fusion of different technologies is the base of the fourth industrial revolution. Companies are encouraged to integrate new tools in their production processes in order to improve working conditions and increase productivity and production qualit...
Autonomous land yachts can play a major role in the context of environmental monitoring, namely, in open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses the design, modeling, and simulation of a land yacht probe equ...
Recent advancements in Unmanned Aerial Vehicle (UAV) physics simulators, flight control firmware, and network virtualization have been substantial. However, operating these systems independently fails to capture the complex dynamics of real-world mul...
Digital twin (DT) technology has become a cornerstone in the simulation and analysis of real-world systems, offering unparalleled insights into the lifecycle management of physical assets. By providing a real-time synchronized replica of the physical...
Digital twin documents are expected to form a global network of digital twins, a “Digital Twin Web”, that allows the discovery and linking of digital twins with an approach similar to the World Wide Web. Digital twin documents can be used...
Autonomous mobile robots are an important focus of current research due to the advantages they bring to the industry, such as performing dangerous tasks with greater precision than humans. An autonomous mobile robot must be able to generate a collisi...
Although the traditional Gmapping algorithm incorporates optimized proposal distribution and resampling strategies within the RBPF-SLAM framework, it remains susceptible to particle degradation during intensive particle iterations. This degradation c...
A decentralized swarm of quadcopters designed for monitoring an open area and detecting intruders is proposed. The system is designed to be scalable and robust. The most important aspect of the system is the swarm intelligent decision-making process...
Path planning for mobile robots in complex circumstances is still a challenging issue. This work introduces an improved deep reinforcement learning strategy for robot navigation that combines dueling architecture, Prioritized Experience Replay, and s...
The article presents an approach based on machine learning with symbolic regression for the synthesis of a stabilization system for a mobile robot. This approach is universal and allows you to numerically solve the synthesis problem in a general sett...
As forward-looking imaging sonar, also called an acoustic camera, has emerged as an important sensor for marine robotics applications, its simulators have attracted considerable research attention within the field. This paper presents an acoustic cam...
Intelligent operation and maintenance of urban rail transit systems is essential for improving train safety and efficiency. This study focuses on reducing time, physical effort, and safety risks in deploying intelligent metro inspection robots. This...
In this paper, a real-time dynamic programming (RTDP) approach was developed for the first time to jointly carry a slung load using two unmanned aerial vehicles (UAVs) with a trajectory optimized for time and energy consumption. The novel strategy ap...
This paper presents the application of the concepts and approaches of linear graph (LG) theory in the modeling and simulation of a four-wheel skid-steer mobile robotic system. An LG representation of the system is proposed, and the accompanying state...
This paper presents the use of deep Reinforcement Learning (RL) for autonomous navigation of an Unmanned Ground Vehicle (UGV) with an onboard three-dimensional (3D) Light Detection and Ranging (LiDAR) sensor in off-road environments. For training, bo...
In this paper, we present a novel deep reinforcement learning (DRL) based method that is used to perform multi-robot task allocation (MRTA) and navigation in an end-to-end fashion. The policy operates in a decentralized manner mapping raw sensor meas...
Reactivity is a key component for autonomous vehicles navigating on natural terrains in order to safely avoid unknown obstacles. To this end, it is necessary to continuously assess traversability by processing on-board sensor data. This paper describ...
This paper presents a navigation approach for autonomous agricultural robots based on LiDAR data. This navigation approach is divided into two parts: a line finding algorithm and a control algorithm. The paper proposes several line finding algorithms...
This paper introduces the ProVANT Simulator, a comprehensive environment for developing and validating control algorithms for Unmanned Aerial Vehicles (UAVs). Built on the Gazebo physics engine and integrated with the Robot Operating System (ROS), it...
In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source...
This paper presents a deep reinforcement learning-based path planning algorithm for the multi-arm robot manipulator when there are both fixed and moving obstacles in the workspace. Considering the problem properties such as high dimensionality and co...
In recent years, drones have become increasingly popular tools in criminal investigations, either as means of committing crimes or as tools to assist in investigations due to their capability to gather evidence and conduct surveillance, which has bee...
This paper presents an efficient method for securing navigation performance by suppressing divergence risk of LiDAR SLAM through a newly proposed geometric observability analysis in a three-dimensional point cloud map. For this, observability charact...
The Dynamic Window Approach (DWA) evaluates candidate motions for local robot navigation. This paper presents an Improved Dynamic Window Approach (IDWA) with two changes to trajectory evaluation. First, a distance threshold selects a near-term refere...
Autonomous navigation of ground vehicles on natural environments requires looking for traversable terrain continuously. This paper develops traversability classifiers for the three-dimensional (3D) point clouds acquired by the mobile robot Andabata o...
This article presents a 2D pose estimation method for an omnidirectional mobile robot with Mecanum wheels, using an extended Kalman filter (EKF) formulated on the Lie group
Cross-embodiment human-to-robot motion retargeting requires transferring human motion to robot-feasible actions despite differences in kinematic structure, reachable workspace, and sensing-to-control latency. This paper proposes Cross-Embodiment Moti...
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