Preprint
Aug 2026
DART-S: Reachability-Audited Active-Suspension Preconditioning for Off-Road Vehicle Jumps
Airborne torque reaction cannot recover takeoff errors beyond the wheel angular-momentum budget. DART-S applies ramp-face suspension preconditioning to change pitch, pitch rate, and wheel spin before liftoff, thereby shifting the queried state and altering the remaining authority budget. To predict how each suspension...
Yu Hu, Fang-Zhou Zhao, Liang Chen et al.
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