{"ID":2871103,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.12367","arxiv_id":"2509.12367","title":"An integrated process for design and control of lunar robotics using AI and simulation","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.","short_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 syst...","url_abs":"https://arxiv.org/abs/2509.12367","url_pdf":"https://arxiv.org/pdf/2509.12367v1","authors":"[\"Daniel Lindmark\",\"Jonas Andersson\",\"Kenneth Bodin\",\"Tora Bodin\",\"Hugo Börjesson\",\"Fredrik Nordfeldth\",\"Martin Servin\"]","published":"2025-09-15T19:02:30Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\"]","methods":"[\"Reinforcement Learning\",\"Language Model\"]","has_code":false}