Recent developments in the ROAMS planetary rover simulation environment

@article{Jain2004RecentDI,
  title={Recent developments in the ROAMS planetary rover simulation environment},
  author={Anubhav Jain and J. Balaram and J. Cameron and John Guineau and Chester Lim and Marc Pomerantz and Garett A. Sohl},
  journal={2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)},
  year={2004},
  volume={2},
  pages={861-876 Vol.2}
}
This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of the vehicle including its mechanical subsystem, sensors, on-board resources, on-board control software, the terrain environment and terrain/vehicle interactions. The ROAMS simulator can be used in stand-alone mode, for closed-loop simulation with on-board software or for operator-in-the-loop simulations. 
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