Year: 2025
Type: preprint
Abstract: 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.
Source: arXiv (Cornell University)
Authors: Lindmark, Daniel, Andersson, Jonas, Bodin, Kenneth, Bodin, Tora, Börjesson, Hugo, Nordfeldth, Fredrik, Servin, Martin
Language: English
Subfield: Artificial Intelligence
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4415315329