2 papers
cs.RO2026
HERCULES: An Open-Source Simulation Framework for Heterogeneous Multi-Robot SLAM, Collaborative Perception, and Exploration
Sandilya Sai Garimella, Daniel Chase Butterfield, Sean Wilson +1
We present HERCULES, an open-source simulator and data-collection pipeline for heterogeneous multi-robot autonomy. Built upon the Unreal Engine 5 (UE5)-based simulators AirSim and…
cs.RO2025
MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception
Daniel Butterfield, Sandilya Sai Garimella, Nai-Jen Cheng +1
We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructe…