Preprint
Sep 2026
Language-Guided Terrain-Adaptive Neural MPC for Autonomous Traversal of Articulated Tracked Robots
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...
Zhe Gan, Yan-Bo Chen, Li-Rong Che et al.
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