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Why It Matters
In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors.
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Discovered via ArXiv and published by ArXiv.
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Original description
In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is difficult to model analytically. We present ASTRIL-MPC, a language-guided neural kinematics model predictive control (MPC) framework for autonomous traversal. A learned kinematics model predicts short-horizon task-state increments from a height sequence and recent trajectories;...
Discovered via ArXiv
Research papers and preprints from arXiv.
Publisher: arxiv.org
ID: http://arxiv.org/abs/2609.13083v1 · Indexed 7 days ago