2 papers
cs.RO2026
Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots
Mohamed Dhia Ounally, Nicolas Samson, Mathis Turgeon-Roy +3
Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, t…
cs.RO2026
Energy Prediction on Sloping Ground for Quadruped Robots
Mohamed Ounally, Cyrille Pierre, Johann Laconte
Energy management is a fundamental challenge for legged robots in outdoor environments. Endurance directly constrains mission success, while efficient resource use reduces ecologic…