Coordinated multi-robot whole-body control for terrain-modifying robots, leveraging terramechanics models of ground-contact interaction.
This work designs autonomous whole-body control frameworks for terrain-modifying robots — digging, excavation, and plowing — that leverage terramechanics models of ground-contact interaction during training, enabling stable, efficient execution across varying soil conditions. It also develops multi-agent coordination algorithms for heterogeneous robot teams, enabling safe, real-time operation near humans, obstacles, and other agents.
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