Research/ SPACE AI & AUTONOMY
An integrated process for design and control of lunar robotics using AI and simulation
Daniel Lindmark, Jonas Andersson, Kenneth Bodin, Tora Bodin, Hugo Börjesson, Fredrik Nordfeldth, Martin Servin
Surface Mobility & TerramechanicsOpenAlex topic: Soil Mechanics and Vehicle Dynamics · Learning-based MethodsOpenAlex topic: Reinforcement Learning in Robotics
arXivcs.RO · cs.AIOpenAlexReinforcement Learning in Robotics · Soil Mechanics and Vehicle Dynamics · Robotic Locomotion and Control
We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel. In this paper, we describe a technical framework that supports this process. It relies on OpenPLX, a readable/writable declarative language that links CAD-models and autonomous systems to high-fidelity, real-time 3D simulations of contacting multibody dynamics, machine regolith interaction forces, and non-ideal sensors. To demonstrate its capabilities, we present two case studies, including an autonomous lunar rover that combines a vision-language model for navigation with a reinforcement learning-based control policy for locomotion.
Comments: 14 pages, 6 figures