Roams : Planetary Surface Rover Simulation Environment

  title={Roams : Planetary Surface Rover Simulation Environment},
  author={Abhinandan Jain and John Guineau and Chester Lim and W. P. Lincoln and Marc Pomerantz and Garett A. Sohl and R. Steele Jet},
This paper describes the ongoing development of the Roams physics-based simulator for planetary surface exploration rover vehicles.Roams includes models for various subsystems and components of the robotic vehicle including its mechanical subsystem, an electrical subsystem, internal and external sensors, on-board resources, on-board control software, the terrain environment and the terrain/vehicle interactions. TheRoams simulator can be used for standalone simulation, closed-loop simulations… CONTINUE READING
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