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| This paper addresses motion planning for a mobile robot moving on a hilly three dimensional terrain and subjected to strong physical interaction constraints. The main contribution of this paper is a planning method which takes into account the dynamics of the robot, the robot/terrain interactions , the kinematic constraints of the robot, and classical(More)
This paper deals with the problem of simulating the behaviour of a mobile robot moving on a terrain along a precomputed nominal path. The nominal path is supposed to be provided by a planner. The purpose of the simulator is to instantiate the nominal path into a complete trajectory, while verifying that a set of constraints is satissed all along the motion.(More)