3 papers
cs.RO2025
A simulation framework for autonomous lunar construction work
Mattias Linde, Daniel Lindmark, Sandra à lstig +1
We present a simulation framework for lunar construction work involving multiple autonomous machines. The framework supports modelling of construction scenarios and autonomy soluti…
math.OC2025
Joint parameter and state estimation for regularized time-discrete multibody dynamics
Hannes Marklund, Martin Servin, Mats G Larson
We develop a method for offline parameter estimation of discrete multibody dynamics with regularized and frictional kinematic constraints. This setting leads to unobserved degrees…
cs.CE2025
Local particle refinement in terramechanical simulations
Markus Pogulis, Martin Servin
The discrete element method (DEM) is a powerful tool for simulating granular soils, but its high computational demand often results in extended simulation times. While the effect o…