Planetary exploration vehicles (rovers) can encounter with a great variety of
situations. Most of them are related to the terrain, which can cause the end of
the mission if these vehicles are not able to traverse it. It was the case of Spirit
rover, which got stuck in loose sand, making it impossible to continue advancing.
A solution to this is to make rovers capable of modifying their locomotion to
traverse terrains with particular terramechanic parameters.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
