4 papers
NeSAM: Neuro-Symbolic Kinodynamics with Soil Adaptation for Off-Road Mobility
Chenhui Pan, Tong Xu, Francesco Cancelliere +1
Accurate prediction of off-road vehicle motion over deformable terrain remains challenging because sinkage, slip, and traction vary with local soil conditions. Existing learning-ba…
VertiAKD: Adaptive Off-Road Kinodynamics on Vertically Challenging Terrain
Tong Xu, Chenhui Pan, Francesco Cancelliere +1
Off-road mobility requires autonomous mobile robots to generalize across heterogeneous vehicle fleets and continuously changing terrain conditions. Existing cross-vehicle adaptatio…
Zero-Shot Adaptation to Robot Structural Damage via Natural Language-Informed Kinodynamics Modeling
Anuj Pokhrel, Aniket Datar, Mohammad Nazeri +2
High-performance autonomous mobile robots endure significant mechanical stress during in-the-wild operations, e.g., driving at high speeds or over rugged terrain. Although these pl…
Verti-Arena: A Controllable and Standardized Indoor Testbed for Multi-Terrain Off-Road Autonomy
Haiyue Chen, Aniket Datar, Tong Xu +6
Off-road navigation is an important capability for mobile robots deployed in environments that are inaccessible or dangerous to humans, such as disaster response or planetary explo…