The study of deformable soils is one of the key factors in determining the tire, vehicle and/or
agricultural tool design parameters. This literature review provides a brief overview of soil …

The mobility of vehicles in off-road environments is critical for many applications. Predicting
the tire-soil interaction is a challenge, especially in non-linear deformable terrain. This paper …

We discuss a platform that has both software and hardware components, and whose
purpose is to support research into characterizing and mitigating the sim-to-real gap in …

Sophisticated modeling and simulation, based on rigid and flexible multibody dynamics, are
nowadays a standard procedure in the design and analysis of vehicle systems and are …

Agricultural emissions can be significantly reduced with smart farming, which includes
moving away from large conventional tractors to fleets of compact wheeled electric robots …

Terramechanics models are important in the research and development of planetary rovers.
However, current models emphasize the motion of wheels and bulk soil parameters, with …

In this paper, a new high-performance and memory-efficient contact and road model is
developed. Specifically, the road is modeled as a rectangular structured grid of deformable …

In robotics, simulation has the potential to reduce design time and costs, and lead to a more
robust engineered solution and a safer development process. However, the use of …

The coupling of the finite element method and the discrete element method is one of the
powerful approaches for simulating tire-sand interaction dynamics. However, the …

We report on a study that employs an in-house developed simulation infrastructure to
accomplish zero shot policy transferability for a control policy associated with a scale …