MSC: Multi-Stage Caster-aware Control Framework with Uncertainty-Aware NMPC and RL-based Execution Layer

Jinho Park, Jeongtae Lee, Jeonghyeok Lim +2

Freely swiveling casters are widely adopted in industrial AMRs/SDVs for their mechanical simplicity and load capacity. However, caster misalignment during low-speed or high-curvatu…