Previously developed terramechanics models of wheel-soil interaction forces do not cover
the full span of possible wheel states, including large slip angles and ratios. This paper …

Simulation of wheel-ground and vehicle-ground interactions is very important in many
applications. Achieving accuracy and efficiency is challenging for both soft and hard terrains …

The field of terramechanics focuses largely on two types of simulation approaches. First, the
classical semi-empirical methods that rely on empirically determined soil parameters and …

Predicting the motion of wheeled robots in unstructured environments is an important and
challenging problem. The study of planetary exploration rovers on soft terrain introduces the …

Dynamic simulations of various types of off-road vehicles, from planetary rovers to
agricultural equipment, have long relied on well-established semi-empirical terramechanics …

The wheel-ground unilateral constraint is essential in establishing the complete mobile multi-
axis system dynamics. To reduce the calculation complexity and improve the dynamic …

In this paper, a semi-analytical elasto-plastic (SAEP) model is proposed to simulate wheel
motion on soft soil using a Modified Cam Clay (MCC) constitutive model. The focus is on …

This paper introduces an innovative approach to soil parameter estimation using deep
artificial neural networks (ANN) tailored to estimate a wide range of soil types. Previous …

In recent years, realistic simulation of vehicles on soft terrain has increasingly gained
importance due to its use in operator training, mission planning and design. In this work we …

This paper introduces a motion planning strategy aimed at the coordination of a rover and
manipulator. The main purpose is to fetch samples of scientific interest that could be placed …