Wujie Shi

Wheel-Terrain Contact Geometry Estimation and Interaction Analysis Using Aside-Wheel Camera Over Deformable Terrains

Wheeled mobile robots (WMRs) have been proven to be quite competitive and useful in outdoor missions. However, they may face serious sinkage or slippage on deformable terrains, and even get stuck or damaged, thereby causing mission failure. To mitigate these risks, it is essential to closely monitor