Preprint
Aug 2026
NeSAM: Neuro-Symbolic Kinodynamics with Soil Adaptation for Off-Road Mobility
Accurate prediction of off-road vehicle motion over deformable terrain remains challenging because sinkage, slip, and traction vary with local soil conditions. Existing learning-based kinodynamic models directly approximate vehicle-terrain interactions from data but do not explicitly represent soil mechanics and offer...
Chen-Hui Pan, Tong Xu, Francesco Cancelliere et al.
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