Automated ground vehicles can reduce downtime and increase safety in a wide variety of
applications that occur in energy resource constrained unstructured environments (eg
military, agricultural, mining, and disaster response). In these applications, it is imperative to
plan trajectories that minimize energy consumption. To this end, we propose a framework
where an energy cost-to-go map of the environment is coupled with a model predictive
controller that uses higher fidelity models to capture important aspects of off-road energy …