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cs.RO2026
Path-Following Control and Terramechanics Analysis for Planetary Rovers Under Wheel-to-Wheel Traction Asymmetry
Ryuya Matsuoka, Keisuke Takehana, Kentaro Uno +2
This paper proposes a control strategy for path following that is model-free and relies solely on deceleration for skid-steering planetary rovers navigating deformable loose terrai…
cs.RO2026
Data-Driven Terramechanics Approach Towards a Realistic Real-Time Simulator for Lunar Rovers
Jakob M. Kern, James M. Hurrell, Shreya Santra +3
High-fidelity simulators for the lunar surface provide a digital environment for extensive testing of rover operations and mission planning. However, current simulators focus on ei…
cs.RO2024
Modeling of Terrain Deformation by a Grouser Wheel for Lunar Rover Simulation
Junnosuke Kamohara, Vinicius Ares, James Hurrell +6
Simulation of vehicle motion in planetary environments is challenging. This is due to the modeling of complex terrain, optical conditions, and terrain-aware vehicle dynamics. One o…