Expanding autonomous ground vehicle navigation capabilities through a multi-model parameterized Koopman framework

Ajinkya Joglekar, Chinmay Samak, Tanmay Samak, Venkat Krovi, Umesh Vaidya, Clemson University International Center for Automotive Research , Department of Mechanical Engineering, Clemson University

The International Journal of Robotics Research

Published online on January 05, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
We introduce the multi-model parameterized Koopman (MMPK) framework, a novel end-to-end data-driven modeling and control pipeline for enabling autonomous navigation in Uncrewed Ground Vehicles. MMPK builds upon the Koopman extended dynamic mode ...