An integrated process for design and control of lunar robotics using AI and simulation

• URL: http://arxiv.org/abs/2509.12367v1
• Date: Mon, 15 Sep 2025 19:02:30 GMT
• Title: An integrated process for design and control of lunar robotics using AI and simulation
• Abstract summary: We envision an integrated process for developing lunar construction equipment, where physical design and control are explored in parallel.<n>We describe a technical framework that supports this process.<n>It relies on OpenPLX, a readable/writable declarative language that links CAD-models and autonomous systems to real-time 3D simulations of contacting multibody dynamics, machine regolith interaction forces, and non-ideal sensors.
• Score: 0.48861336570452174
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• 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.

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