ASTRIL-MPC: Autonomous Traversal Framework of Articulated Tracked Robots with Language-Guided Neural-Kinematic MPC
In urban search and rescue, articulated tracked robots (ATRs) must traverse structured but contact-rich environments such as stairwells and cluttered building interiors. Reliable autonomy remains challenging because robot-terrain interaction (RTI) is hybrid and discontinuous, and effective flipper-track coordination is difficult to model analytically. We present ASTRIL-MPC, a language-guided…
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