MSC: Multi-Stage Caster-aware Control Framework with Uncertainty-Aware NMPC and RL-based Execution Layer
Freely swiveling casters are widely adopted in industrial AMRs/SDVs for their mechanical simplicity and load capacity. However, caster misalignment during low-speed or high-curvature maneuvers induces strong contact nonlinearities, widening the planning-execution gap between commanded $(v, ω)$ and realized motion. Existing caster-aware strategies are highly sensitive to state-estimation reliability, causing unstable execution in uncertain transition regimes. To address this, we present Multi-Stage Caster-aware Control (MSC), a planning-execution integrated hierarchical framework featuring two core mechanisms. First, an uncertainty-aware NMPC (CU-MPC) dynamically schedules caster-aware cos...
| Authors | Jinho Park, Jeongtae Lee, Jeonghyeok Lim et al. |
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| Primary category | cs.RO |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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