VASO paper evaluates formally verifiable physical-AI skills on Clearpath Jackal - 2026-06-03 - Research Publication - The VASO paper introduces a self-evolving robot-skill method that turns formal-verification counterexamples into updates for reusable skill contracts. The paper evaluates Clearpath Jackal and PX4 quadcopter tasks and… - source: arxiv.org
Safety-constrained RL paper validates reachability-checked navigation on Clearpath Jackal - 2026-05-13 - Research Publication - The paper combines CVaR-constrained reinforcement learning with post-training reachability verification for mobile-robot navigation. The authors validate sim-to-real transfer on a physical Clearpath Jackal robot after… - source: arxiv.org
RVN-Bench: A Benchmark for Reactive Visual Navigation - 2026-03-04 - Research Publication - To address this limitation, the authors introduce the reactive visual navigation benchmark (RVN-Bench), a collision-aware benchmark for indoor mobile robots. Furthermore, initial physical experiments using a Jackal UGV… - source: arxiv.org
YOPO-Nav paper benchmarks visual navigation on Clearpath Jackal trajectories - 2025-12-10 - Research Publication - YOPO-Nav uses one-pass exploration videos and 3D Gaussian Splatting graphs for visual navigation without relying on a metric map. The paper benchmarks methods on YOPO-Campus trajectories collected with a Clearpath Jackal… - source: arxiv.org
Heterogeneous robot-collaboration paper runs real-world missions with Clearpath Jackal - 2025-10-30 - Research Publication - The paper proposes a grounded generative-intelligence framework for heterogeneous robot teams operating in unstructured environments. Real-world experiments use a Clearpath Jackal, Clearpath Husky, Boston Dynamics Spot… - source: arxiv.org
Zero-to-autonomy paper tests online dynamics adaptation on Clearpath Jackal - 2025-09-16 - Research Publication - The paper presents an online dynamics-adaptation method that updates function-encoder coefficients from streaming odometry for real-time model adaptation. The authors evaluate the method in simulation and on a Clearpath… - source: arxiv.org
OVITA: Open-Vocabulary Interpretable Trajectory Adaptations - 2025-08-24 - Research Publication - The authors introduce OVITA, an interpretable, open-vocabulary, language-driven framework designed for adapting robot trajectories in dynamic and novel situations based on human instructions. The efficacy and significance… - source: arxiv.org
Researchers publish jailbreaking study for LLM-controlled robots - 2024-10-17 - Research Publication - The arXiv paper evaluates jailbreaking risks for LLM-controlled robots using a Jackal UGV platform. The study’s named evaluation platform is Jackal UGV from Clearpath Robotics. - source: arxiv.org
Speech-Guided Sequential Planning for Autonomous Navigation using Large Language Model Meta AI 3 (Llama3) - 2024-07-13 - Research Publication - The arXiv paper studies speech-guided sequential planning for autonomous navigation using a Jackal UGV. The study’s named evaluation platform is Jackal UGV from Clearpath Robotics. - source: arxiv.org
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 3rd BARN Challenge at ICRA 2024 - 2024-07-02 - Research Publication - Each team needed to develop an entire navigation software stack for a standardized and provided mobile robot, i.e., a Clearpath Jackal [4] with a 2D 270°-field-of-view Hokuyo LiDAR for perception and a differential drive… - source: arxiv.org
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments - 2024-05-28 - Research Publication - We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilistic safety constraints. The work is… - source: arxiv.org
ROS2swarm - A ROS 2 Package for Swarm Robot Behaviors - 2024-05-03 - Research Publication - The arXiv paper presents ROS2swarm and includes Jackal UGV experiments for swarm robot behaviors. The study’s named evaluation platform is Jackal UGV from Clearpath Robotics. - source: arxiv.org
TopoNav: Topological Navigation for Efficient Exploration in Sparse Reward Environments - 2024-02-06 - Research Publication - The authors present TopoNav, a novel topological navigation framework that integrates active mapping, hierarchical reinforcement learning, and intrinsic motivation to enable efficient goal-oriented exploration and… - source: arxiv.org
AG-CVG: Coverage Planning with a Mobile Recharging UGV and an Energy-Constrained UAV - 2023-10-11 - Research Publication - The authors present an approach for coverage path planning for a team of an energy-constrained Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV). The authors demonstrate proof-of-concept with a team of a… - source: arxiv.org
Teach and Repeat Navigation: A Robust Control Approach - 2023-09-27 - Research Publication - The authors propose a novel T&R system based on a robust motion control technique for a skid-steering mobile robot using sliding-mode control that effectively handles uncertainties that are particularly pronounced in the… - source: arxiv.org
Mobile Manipulation Platform for Autonomous Indoor Inspections in Low-Clearance Areas - 2023-09-19 - Research Publication - The paper combines a Clearpath Jackal unmanned ground vehicle with a six-degree-of-freedom Kinova Gen3 manipulator for indoor inspection. Hardware and software modifications preserve the Jackal footprint while adding the… - source: arxiv.org
Deadlock-free, Safe, and Decentralized Multi-Robot Navigation in Social Mini-Games via Discrete-Time Control Barrier Functions - 2023-08-21 - Research Publication - The method uses discrete-time control barrier functions and receding-horizon control to keep decentralized robots safe and out of deadlock in constrained spaces. Evaluation includes physical Clearpath Jackal and Boston… - source: arxiv.org
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023 - 2023-08-06 - Research Publication - The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, UK and continued to evaluate the performance of… - source: arxiv.org
Decentralized Social Navigation with Non-Cooperative Robots via Bi-Level Optimization - 2023-06-15 - Research Publication - The paper proposes a real-time bi-level planner that first computes a fair collision-free priority ordering and then plans trajectories conditioned on that order. The authors deploy the planner on physical Clearpath Jackal… - source: arxiv.org
Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems - 2023-05-11 - Research Publication - The authors propose hierarchical descriptors for loop closure detection and describe how to correct a scene graph in response to loop closures, by solving a 3D scene graph optimization problem. The authors showcase Hydra's… - source: arxiv.org
One-4-All: Neural Potential Fields for Embodied Navigation - 2023-03-07 - Research Publication - The arXiv paper evaluates neural potential fields for embodied navigation with a Jackal UGV. The study’s named evaluation platform is Jackal UGV from Clearpath Robotics. - source: arxiv.org
GNM: A General Navigation Model to Drive Any Robot - 2022-10-07 - Research Publication - Clearpath Jackal UGV: A commercially available off- road platform equipped with an off-the-shelf PCB-mounted fisheye camera. How important are the design choices made in Sec. - source: arxiv.org
Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields - 2022-09-19 - Research Publication - The arXiv paper localizes a Jackal UGV using Monte Carlo localization with neural radiance fields. The study’s named evaluation platform is Jackal UGV from Clearpath Robotics. - source: arxiv.org
Physically-Feasible Repair of Reactive, Linear Temporal Logic-based, High-Level Tasks - 2022-07-06 - Research Publication - A typical approach to creating complex robot behaviors is to compose atomic controllers, or skills, such that the resulting behavior satisfies a high-level task; however, when a task cannot be accomplished with a given set… - source: arxiv.org