Real-world underwater testing for multi-agent autonomy presents substantial financial and engineering challenges. In this work, we introduce the Configurable Underwater Group of Autonomous Robots (CoUGARs) as a low-cost, configurable autonomous-underwater-vehicle (AUV) platform for multi-agent autonomy research. The base design costs less than $3,000 USD (as of May 2025) and is based on commercially-available and 3D-printed parts, enabling quick customization for various sensor payloads and configurations. Our current expanded model is equipped with a doppler velocity log (DVL) and ultra-short-baseline (USBL) acoustic array/transducer to support research on acoustic-based cooperative localization. State estimation, navigation, and acoustic communications software has been developed and deployed using a containerized software stack and is tightly integrated with the HoloOcean simulator. The system was tested both in simulation and via in-situ field trials in Utah lakes and reservoirs.
In nature, animals with exceptional locomotion abilities, such as cougars, often possess asymmetric fore and hind legs. This observation inspired us: could optimizing the leg length of quadruped robots endow them with similar locomotive capabilities? In this paper, we propose an approach that co-optimizes the mechanical structure and control policy to boost the locomotive prowess of quadruped robots. Specifically, we introduce a novel pretraining-finetuning framework, which not only guarantees optimal control strategies for each mechanical candidate but also ensures time efficiency. Additionally, we have devised an innovative training method for our pretraining network, integrating spatial domain randomization with regularization methods, markedly improving the network's generalizability. Our experimental results indicate that the proposed pretraining-finetuning framework significantly enhances the overall co-design performance with less time consumption. Moreover, the co-design strategy substantially exceeds the conventional method of independently optimizing control strategies, further improving the robot's locomotive performance and providing an innovative approach to enhancing
Despite their development for over a decade, a key problem blockchains are still facing is scalability in terms of throughput, typically limited to a few transactions per second. A fundamental factor limiting this metric is the propagation latency of blocks through the underlying peer-to-peer network, which is typically constructed by means of random connectivity. Disseminating blocks fast improves not only the transaction throughput, but also the security of the system as it reduces the probability of forks. In this paper we present CougaR: a simple yet efficient, eclipse-resistant, decentralized protocol that substantially reduces the block dissemination time in blockchain networks. CougaR's key advantages stem from its link selection policy, which combines a network latency criterion with randomness to offer fast and reliable block dissemination to the entire network. Moreover, CougaR is eclipse-resistant by design, as nodes are protected from having all their links directly or indirectly imposed on them by others, which is the typical vulnerability exploited to deploy eclipse attacks. We rigorously evaluate CougaR by an extensive set of experiments, both against a wide spectrum
Ultrafast X-rays revealed how a molecule converts absorbed light into motion in just trillionths of a second。 Individual atoms recorded different stages of the process, opening a powerful new window into light-driven chemistry
NASA astronaut Chris Williams and two Roscosmos cosmonauts are back on Earth after spending 241 days aboard the International Space Station。 Their journey covered more than 102 million miles and included 3,856 trips around the planet
A massive magma reservoir has been detected deep beneath Tuscany, despite showing no obvious signs at the surface。 Scientists mapped the roughly 6,000-cubic-kilometer body using natural ground vibrations recorded by dozens of seismic sensors。 It poses no immediate danger, but the discovery reveals how enormous volcanic systems can remain hidden and
Dark matter particles may exert a hidden force on one another, but its effects are stranger than expected。 An extra attraction helps the particles cluster, yet it also makes dark matter effectively lighter as the Universe expands。 That weakens its gravitational impact and usually slows the growth of cosmic structure rather than accelerating it
Scientists have built the first all-optical photonic time crystal, allowing them to reshape the behavior of terahertz light at extraordinary speeds。 The breakthrough could open the door to ultrafast computing, smarter communication systems, advanced imaging, and a new generation of highly tunable lasers
A black hole observed during a dramatic 2023 eruption did not simply devour gas from its nearby companion star。 It also expelled large amounts of material through powerful jets and winds, even after the outburst had nearly faded。 The results suggest black holes may continue reshaping their surroundings long after their brightest fireworks end
Sweden could become an important source of rare earth elements needed for magnets and green technologies。 Instead of extracting one target metal, researchers are cataloging everything contained in Swedish mineral deposits。 They will then develop magnets using those naturally available combinations, potentially reducing pollution, waste, and relianc
Physicists have uncovered a surprising limit to electrical resistance caused by particles colliding。 Using ultracold potassium atoms trapped in a grid of light, researchers created a highly controlled stand-in for electrons moving through a solid。 As collisions became more frequent and intense, resistance initially rose, but eventually hit a ceilin
Engineers have transformed a notoriously brittle cobalt-aluminum compound into a material that is both extremely strong and capable of bending without breaking。 Their nanoscale design produced a yield strength about six to 10 times greater than high-strength structural steel while sustaining substantial deformation at room temperature。 The approach
NASA’s Curiosity rover has entered a Martian valley covered by an astonishing “sea” of tiny polygon-shaped fractures。 The honeycomb patterns, each only a few inches wide, stretch across the landscape and even wrap around a nearby 20-foot-tall butte