arxivcs.RO2026-06-30
Distributed Multi Robot Lunar Cargo Transportation via Phase Decomposed Reinforcement Learning
Ashutosh Mishra, Elian Neppel, Shreya Santra, Antoine Jonquières, Muhammad Athallah Naufal, Kentaro Uno, et al.
Modular reconfigurable robotic systems provide a scalable solution for cooperative surface operations in future lunar missions. However, cooperative cargo transportation remains challenging due to morphology-dependent topology changes, strong payload-induced coupling, long-horizo…