We present a highly effective approach for the calibration of vehicle models. The approach
combines the output error technique of system identification theory and the convolution …

We present a method of achieving autonomous compliant behavior in snake robots. This
behavior allows snake robots to adapt to changes in its environment, eg changes in pipe …

Soft soil contact models developed for planetary exploration rovers play an important role in
the study of rover mobility. Nowadays, most of the existing contact models are based on …

Snake robots are ideally suited to highly confined environments because their small cross-
sections and highly redundant kinematics allow them to enter and move through tight …

When GPS, or other absolute positioning, is un-available, terrain-relative velocity is crucial
for dead reckoning and the vehicle's pose estimate. Unfortunately, the position-denied …

Ground robotics rely on accurate dynamic models for high performance control and
estimation systems. To use odometry or predict the robots motion, an accurate model is …

Advances in hardware design have made wheeled mobile robots (WMRs) exceptionally
mobile. To fully exploit this mobility, WMR planning, control, and estimation systems require …

Nowadays soft soil–wheel contact models are widely used for predicting the mobility of
rovers in off-road applications. However, most of the contact models used in computer …

This paper describes a local planning, control and learning framework enabling high-speed
autonomous groundvehicle traversal of rough 3D terrain replete with bumps, berms, banked …

We changed directions with the proposed work from midlevel control of articulated systems
to design and control of series elastics actuators for snake robots. The ability to adapt to and …