Abstract: This technical brief revisits the method outlined in Tasora and Anitescu 2011 [“A Matrix-Free Cone Complementarity Approach for Solving Large-Scale, Nonsmooth, Rigid Body Dynamics,” Comput. Methods Appl. Mech. Eng., 200(5–8), ...

Abstract: We describe a simulation environment that enables the design and testing of control policies for off-road mobility of autonomous agents. The environment is demonstrated in conjunction with the training and assessment of a ...