Koopman operators identified from Bekker-Wong terramechanics simulations enable short-horizon prediction and constrained MPC for stable tracking of aggressive maneuvers by off-road vehicles on deformable terrain.
Prediction of Rigid Wheel Performance Based on the Analysis of Soil-Wheel Stresses Part I. Performance of Driven Rigid Wheels,
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Koopman Operator Framework for Modeling and Control of Off-Road Vehicle on Deformable Terrain
Koopman operators identified from Bekker-Wong terramechanics simulations enable short-horizon prediction and constrained MPC for stable tracking of aggressive maneuvers by off-road vehicles on deformable terrain.