Author

Johann Laconte

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Preprint Sep 2026

Tracking the Ground: Online Lidar Identification of Robot-Induced Soil Deformation in Agricultural Environments

Agriculture faces many challenges, and robotic systems can play an important role in addressing them by improving the efficiency and sustainability of field operations. Among these challenges, preserving soil health is a critical concern, as vehicle-soil interactions can degrade the soil structure and produce unwanted...

Tom Montagnon, Johann Laconte, B. Thuilot et al. · 0 citations

Preprint Sep 2026

Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots

Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, the point-contact kinematic model (PCK) accounts for the linkage geometry but neglects the rotational resistance distributed along the contac...

M. Ounally, Nicolas Samson, Mathis Turgeon-Roy et al. · 0 citations

Preprint Aug 2026

When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics

Autonomous robots operating in natural environments must often interact with vegetation rather than simply avoid it. In this context, traversability is typically defined from the robot's perspective, by measuring how a specific platform responds when moving through the environment. While practical, this viewpoint entan...

Zaar Khizar, Tom Montagnon, Roland Lenain et al. · 0 citations