# High-Speed, All-Terrain Autonomy: Ensuring Safety at the Limits of Mobility

arXiv: https://arxiv.org/abs/2603.20525 · HTML: https://mlsanity.com/paper/2603.20525/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Mar 2026.

## Built on by (most cited first, 1 of 1)

- [Learning the Right Abstraction: Neural Reduced Dynamics for Complex Robot Control](https://mlsanity.com/paper/2608.19375/) (2026)

## Abstract (arXiv)

A novel local trajectory planner, capable of controlling an autonomous off-road vehicle on rugged terrain at high-speed is presented. Autonomous vehicles are currently unable to safely operate off-road at high-speed, as current approaches either fail to predict and mitigate rollovers induced by rough terrain or are not real-time feasible. To address this challenge, a novel model predictive control (MPC) formulation is developed for local trajectory planning. A new dynamics model for off-road vehicles on rough, non-planar terrain is derived and used for prediction. Extreme mobility, including tire liftoff without rollover, is safely enabled through a new energy-based constraint. The formulation is analytically shown to mitigate rollover types ignored by many state-of-the-art methods, and real-time feasibility is achieved through parallelized GPGPU computation. The planner's ability to provide safe, extreme trajectories is studied through both simulated trials and full-scale physical experiments. The results demonstrate fewer rollovers and more successes compared to a state-of-the-art baseline across several challenging scenarios that push the vehicle to its mobility limits.