DiffGM3: Differentiable Control Across Autonomous Micro-Mobility Platforms
The Generalized Micro-Mobility Model (GM3) is a physics-based model that can simulate the dynamics of a micro-mobility vehicle (MMV) with any wheel arrangement using the brush tire model. It boasts realism over the kinematic bicycle model because it incorporates slip, load transfer, and rider lean. However, this model is discrete, meaning that the forces get updated every time step, and it is difficult to tune the parameters that cannot be measured directly (coefficient of friction, tire stiffness, center of gravity). To enable efficient parameter tuning and autonomous MMV control using GM3, we propose a differentiable version: DiffGM3.
