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arXiv · 2509.12367

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

Daniel Lindmark·Jonas Andersson·Kenneth Bodin·Tora Bodin·Hugo Börjesson·Fredrik Nordfeldth·Martin Servin
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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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Daniel Lindmark, Jonas Andersson, Kenneth Bodin, Tora Bodin, Hugo Börjesson, Fredrik Nordfeldth, Martin Servin. 2025-09-15. An integrated process for design and control of lunar robotics using AI and simulation. https://arxiv.org/abs/2509.12367

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