Jorge L. Martínez

2024

ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes*

Jorge L. Martínez, Jesús Morales, Manuel Sánchez, Alfonso García-Cerezo

IROS 2024poster

This paper proposes a new kinematic model for wheeled skid-steer vehicles moving with low inertia on firm slopes that is based on the variation of the Instantaneous Center of Rotation (ICR) of its lateral treads. To this end, the ICR-based model for horizontal surfaces, where constant tread ICRs wer…

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ICR-based Kinematics for Wheeled Skid-Steer Vehicles on Firm Slopes*

Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions*This work was partially funded by the Spanish project DPI2015-65186-R. The publication has received support from Universidad de Málaga Campus de Excelencia Andalucía Tech