SOURCE-LINKED INTELLIGENCE
Wheel-loader V-Cycle Automation with Deep Koopman MPC
The repeated forward-reverse maneuvers performed by wheel loaders during earthmoving operations make them well suited for automation. However, the nonlinear dynamics of articulated vehicles and complex vehicle-terrain interactions limit the effectiveness of conventional model-based approaches. This paper presents a hierarchical framework that combines long-horizon geometric planning with data-driven predictive control for autonomous wheel-loader operation. A reduced-order articulated kinematic model is used to generate the maneuver geometry, where the forward and reverse trajectories are joint
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-22T15:27:23.000Z
First collected: 2026-09-23T04:11:12.117Z. This is not the publication date.