LOTUSim is an open-source, real-time maritime simulator supporting multi-user interaction for coordinated naval-style operations, featuring real-time interactive performance, scalability, and an Ekman…

This paper provides a systematic survey of ROS 2 middleware and identifies architectural limits through three dimensions: Space, Time, and State.

This paper presents a robot-agnostic compliant-control framework with standardized interfaces for ROS control ecosystem, enabling reusable infrastructure for various manipulators and diverse compliant…

The paper proposes an iCEM+TL framework that combines the Sample-efficient Cross-Entropy Method with Transfer Learning and Reward Redesign to improve robotic motion planning for complex tasks like sta…

This paper expands the Quality of Control (QoC) framework to address network-induced uncertainties in collaborative robotics, validating the models through experiments on a private 5G testbed.

This paper introduces a nonlinear, actuator-aware safety filter for 3D Gaussian Splatting (3DGS) based on full quadrotor dynamics, reducing trajectory jerk by 47% and running 2.25 times faster than ex…

This paper provides a comprehensive review of network optimization aspects for Connected and Autonomous Vehicles (CAVs), aiming to clarify misconceptions and outline future research directions.

This paper presents a new modular architecture for NeoSLAM using modern frameworks, achieving real-time execution and minimal data discarding. It also compares NeoSLAM and RatSLAM across three dataset…

The paper proposes a robust sim-to-sim-to-real DRL approach to enable double-Ackermann robots to achieve full pose control despite significant actuation uncertainties and discrepancies between simulat…

This paper investigates the robustness of world models in vision-based quadrotor navigation and identifies factors governing their quality.

This paper evaluates the integration of Language Model Machines (LLMs) into control tasks in automotive contexts from a safety assurance perspective, identifying conceptual and concrete challenges.

A fully unsupervised Fast-Slow DSVDD detector is presented for continuous State-of-Polarization monitoring on subsea cables, identifying five confirmed trawler contacts and additional corroborated eve…

The paper introduces Center-of-Pressure (CoP), a physics-grounded tactile representation that enables robust zero-shot sim-to-real transfer for complex, contact-rich manipulation tasks.

The paper provides a holistic threat model for LLM-enabled robotic systems by analyzing how conventional, adversarial, and conversational threats propagate across the entire perception-planning-actuat…

This paper evaluates two approaches for maintaining safe separation between small Unmanned Aircraft Systems (sUAS) in urban environments with degraded Global Navigation Satellite System (GNSS) signals…