Predictable mobility

Genya Ishigami, Gaurav Kewlani, Karl Iagnemma

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


In this article, a statistical method for mobility prediction that incorporates terrain uncertainty is presented. Mobile robotics has been performing a significant role in scientific lunar/planetary surface exploration missions [1]. In such missions, mobile robots are required to predict their mobility to avoid hazards such as immobilizing wheel slip on loose sand or collision with obstacles. This mobility prediction problem is thus important to the successful exploration on challenging terrain. Of particular interest is mobility prediction on sloped terrain, since travel on slopes can cause extreme longitudinal and lateral slips.

Original languageEnglish
Article number5306927
Pages (from-to)61-70
Number of pages10
JournalIEEE Robotics and Automation Magazine
Issue number4
Publication statusPublished - 2009 Dec
Externally publishedYes


  • Field robots
  • Space robotics
  • Wheeled robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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