A function-encoder model with neural ODE bases adapts a ground robot's dynamics to new terrain online via a least-squares coefficient fit, and the adapted model improves MPPI planning accuracy and reduces collisions in simulation.
Terrain estimation for planetary exploration robots
1 Pith paper cite this work, alongside 17 external citations. Polarity classification is still indexing.
1
Pith paper citing it
17
external citations · OpenAlex
citation-role summary
background 1
citation-polarity summary
fields
cs.RO 1years
2025 1verdicts
CONDITIONAL 1roles
background 1polarities
unclear 1representative citing papers
citing papers explorer
-
Online Adaptation of Terrain-Aware Dynamics for Planning in Unstructured Environments
A function-encoder model with neural ODE bases adapts a ground robot's dynamics to new terrain online via a least-squares coefficient fit, and the adapted model improves MPPI planning accuracy and reduces collisions in simulation.