{"id":"https://openalex.org/W4415315329","doi":"https://doi.org/10.48550/arxiv.2509.12367","title":"An integrated process for design and control of lunar robotics using AI and simulation","display_name":"An integrated process for design and control of lunar robotics using AI and simulation","publication_year":2025,"publication_date":"2025-09-15","ids":{"openalex":"https://openalex.org/W4415315329","doi":"https://doi.org/10.48550/arxiv.2509.12367"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2509.12367","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.12367","pdf_url":"https://arxiv.org/pdf/2509.12367","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"volume":null,"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.12367","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Lindmark, Daniel","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lindmark, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Andersson, Jonas","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andersson, Jonas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062184410","display_name":"Kenneth Bodin","orcid":"https://orcid.org/0000-0002-4748-0086","observed_orcids":["https://orcid.org/0000-0002-4748-0086"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bodin, Kenneth","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Bodin, Tora","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bodin, Tora","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120049366","display_name":"Hugo B\u00f6rjesson","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"B\u00f6rjesson, Hugo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106620537","display_name":"Fredrik Nordfeldth","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nordfeldth, Fredrik","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5011300669","display_name":"Martin Servin","orcid":"https://orcid.org/0000-0002-0787-4988","observed_orcids":["https://orcid.org/0000-0002-0787-4988"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Servin, Martin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6606000065803528,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6606000065803528,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.16359999775886536,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.0284000001847744,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/lunar-robotics","display_name":"lunar robotics","score":0.9760000109672546},{"id":"https://openalex.org/keywords/declarative-languages","display_name":"declarative languages","score":0.6309999823570251},{"id":"https://openalex.org/keywords/multibody-simulation","display_name":"multibody simulation","score":0.890999972820282},{"id":"https://openalex.org/keywords/vision-and-language-navigation","display_name":"vision-and-language navigation","score":0.7990000247955322},{"id":"https://openalex.org/keywords/reinforcement-learning-control","display_name":"reinforcement learning control","score":0.7609999775886536},{"id":"https://openalex.org/keywords/locomotor-control","display_name":"locomotion control","score":0.7049999833106995}],"concepts":[{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6765999794006348},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6592000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598000288009644},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5453000068664551},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.4959000051021576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4408000111579895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43860000371932983},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40470001101493835},{"id":"https://openalex.org/C2778588580","wikidata":"https://www.wikidata.org/wiki/Q6043060","display_name":"Integrated design","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.37369999289512634},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36329999566078186},{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.34290000796318054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.3280999958515167},{"id":"https://openalex.org/C48262172","wikidata":"https://www.wikidata.org/wiki/Q16908765","display_name":"Design process","level":3,"score":0.30379998683929443},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2856999933719635},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.26409998536109924},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2630999982357025},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2533999979496002},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.2508000135421753}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2509.12367","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.12367","pdf_url":"https://arxiv.org/pdf/2509.12367","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:DiVA.org:umu-247537","doi":null,"is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-247537","pdf_url":null,"source":{"id":"https://openalex.org/S4306400361","display_name":"DiVA at Ume\u00e5 University (Ume\u00e5 University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I90267481","host_organization_name":"Ume\u00e5 University","host_organization_lineage":["https://openalex.org/I90267481"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.48550/arxiv.2509.12367","doi":"https://doi.org/10.48550/arxiv.2509.12367","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.12367","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.12367","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.12367","pdf_url":"https://arxiv.org/pdf/2509.12367","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.4943999946117401,"display_name":"Industry, innovation and infrastructure"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W6979352369","https://openalex.org/W4415446085","https://openalex.org/W4401808898","https://openalex.org/W7171636125","https://openalex.org/W7169509954","https://openalex.org/W2328368755","https://openalex.org/W4407015790","https://openalex.org/W4406581146","https://openalex.org/W3213881276","https://openalex.org/W7124499840"],"abstract_inverted_index":{"We":[0],"envision":[1],"an":[2,71],"integrated":[3],"process":[4],"for":[5,80,88],"developing":[6],"lunar":[7,73],"construction":[8],"equipment,":[9],"where":[10],"physical":[11],"design":[12],"and":[13,42,58],"control":[14,86],"are":[15],"explored":[16],"in":[17],"parallel.":[18],"In":[19],"this":[20,29],"paper,":[21],"we":[22,65],"describe":[23],"a":[24,35,77,83],"technical":[25],"framework":[26],"that":[27,39,75],"supports":[28],"process.":[30],"It":[31],"relies":[32],"on":[33],"OpenPLX,":[34],"readable/writable":[36],"declarative":[37],"language":[38],"links":[40],"CAD-models":[41],"autonomous":[43,72],"systems":[44],"to":[45],"high-fidelity,":[46],"real-time":[47],"3D":[48],"simulations":[49],"of":[50],"contacting":[51],"multibody":[52],"dynamics,":[53],"machine":[54],"regolith":[55],"interaction":[56],"forces,":[57],"non-ideal":[59],"sensors.":[60],"To":[61],"demonstrate":[62],"its":[63],"capabilities,":[64],"present":[66],"two":[67],"case":[68],"studies,":[69],"including":[70],"rover":[74],"combines":[76],"vision-language":[78],"model":[79],"navigation":[81],"with":[82],"reinforcement":[84],"learning-based":[85],"policy":[87],"locomotion.":[89]},"counts_by_year":[],"updated_date":"2026-10-27T15:51:10.671819","created_date":"2025-10-18T00:00:00"}
