{"id":"https://openalex.org/W7126503385","doi":null,"title":"A PHYSICS-BASED SIMULATION ENVIRONMENT FOR LUNAR ROVER OPERATIONS","display_name":"A PHYSICS-BASED SIMULATION ENVIRONMENT FOR LUNAR ROVER OPERATIONS","publication_year":2025,"publication_date":"2025-05-08","ids":{"openalex":"https://openalex.org/W7126503385"},"language":"en","primary_location":{"id":"pmh:oai:minds.wisconsin.edu:1793/95167","doi":null,"is_oa":false,"landing_page_url":"http://digital.library.wisc.edu/1793/95167","pdf_url":null,"source":{"id":"https://openalex.org/S4306401622","display_name":"Minds at UW (University of Wisconsin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I135310074","host_organization_name":"University of Wisconsin\u2013Madison","host_organization_lineage":["https://openalex.org/I135310074"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"volume":null,"type":"dissertation","indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092938630","display_name":"Nevindu Batagoda","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Batagoda, Nevindu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5092938630"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.2295999974012375,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.2295999974012375,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.21449999511241913,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14270","display_name":"Simulation and Modeling Applications","score":0.14429999887943268,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/project-chrono","display_name":"Project Chrono","score":0.9440000057220459},{"id":"https://openalex.org/keywords/ground-deformation","display_name":"ground deformation","score":0.8460000157356262},{"id":"https://openalex.org/keywords/smoothed-particle-hydrodynamics","display_name":"smoothed particle hydrodynamics","score":0.8619999885559082},{"id":"https://openalex.org/keywords/time-of-flight-sensors","display_name":"time-of-flight sensors","score":0.7379999756813049},{"id":"https://openalex.org/keywords/volume-rendering","display_name":"volume rendering","score":0.8119999766349792},{"id":"https://openalex.org/keywords/level-of-detail","display_name":"level of detail","score":0.48500001430511475},{"id":"https://openalex.org/keywords/quadtree","display_name":"quadtree","score":0.9470000267028809},{"id":"https://openalex.org/keywords/vipers","display_name":"vipers","score":0.9100000262260437}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6897000074386597},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6133000254631042},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5986999869346619},{"id":"https://openalex.org/C2776481522","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Orbiter","level":2,"score":0.5677000284194946},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4032999873161316},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.3905999958515167},{"id":"https://openalex.org/C118350294","wikidata":"https://www.wikidata.org/wiki/Q17341992","display_name":"Terrain rendering","level":3,"score":0.3801000118255615},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3352999985218048},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.32409998774528503},{"id":"https://openalex.org/C99695388","wikidata":"https://www.wikidata.org/wiki/Q350514","display_name":"Raised-relief map","level":3,"score":0.3181000053882599},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3019999861717224},{"id":"https://openalex.org/C151596937","wikidata":"https://www.wikidata.org/wiki/Q856980","display_name":"Bidirectional reflectance distribution function","level":3,"score":0.2946000099182129},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29269999265670776},{"id":"https://openalex.org/C172367668","wikidata":"https://www.wikidata.org/wiki/Q6504956","display_name":"Data visualization","level":3,"score":0.29179999232292175},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2797999978065491},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2727000117301941},{"id":"https://openalex.org/C1668388","wikidata":"https://www.wikidata.org/wiki/Q1149776","display_name":"Data management","level":2,"score":0.2556000053882599},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"pmh:oai:minds.wisconsin.edu:1793/95167","doi":null,"is_oa":false,"landing_page_url":"http://digital.library.wisc.edu/1793/95167","pdf_url":null,"source":{"id":"https://openalex.org/S4306401622","display_name":"Minds at UW (University of Wisconsin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I135310074","host_organization_name":"University of Wisconsin\u2013Madison","host_organization_lineage":["https://openalex.org/I135310074"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4412405345","https://openalex.org/W7140080551","https://openalex.org/W4388723278","https://openalex.org/W2031394712","https://openalex.org/W2042094157","https://openalex.org/W7021189464","https://openalex.org/W7204671966","https://openalex.org/W4401415831","https://openalex.org/W4402701348","https://openalex.org/W2183713283"],"abstract_inverted_index":{"This":[0,291],"thesis":[1],"extends":[2],"Project":[3,80,294],"Chrono,":[4],"a":[5,11,54,90,141,176,207,228,297],"multi-physics":[6],"simulation":[7,13,69,190,218,256],"engine,":[8],"to":[9,40,71,100,150,175,213,246],"create":[10],"robotics":[12,306],"framework":[14],"for":[15,58,67,162,202,302],"lunar":[16,27,43,61,73,86,104,221,242,289,305],"applications.":[17],"The":[18,254],"work":[19,292],"enhances":[20],"Chrono\u2019s":[21],"capabilities":[22],"in":[23],"three":[24],"key":[25],"areas:":[26],"scene":[28],"modeling,":[29],"sensor":[30,180,199],"simulation,":[31],"and":[32,47,75,84,113,144,152,167,217,239,276,282,287,299,311],"large-scale":[33,220],"world":[34],"simulation.":[35],"New":[36],"features":[37],"were":[38,244],"developed":[39,212,255],"accurately":[41],"model":[42,97,181],"lighting,":[44],"dust":[45,142,154],"dynamics,":[46],"terrain":[48,132],"deformation,":[49],"alongside":[50],"the":[51,65,103,110,170,268],"creation":[52],"of":[53,127,137,191,219],"new":[55,208],"module,":[56,209],"Chrono::Worlds,":[57,210],"managing":[59],"extensive":[60],"environments.":[62],"Motivated":[63],"by":[64,158],"need":[66],"high-fidelity":[68],"tools":[70],"support":[72,247],"exploration":[74],"robotics,":[76],"this":[77],"project":[78],"advances":[79],"Chrono":[81,295],"toward":[82],"realistic":[83,135],"scalable":[85],"mission":[87],"simulations.":[88],"First,":[89],"Hapke-based":[91],"Bidirectional":[92],"Reflectance":[93],"Distribution":[94],"Function":[95],"(BRDF)":[96],"was":[98,122,148,173,211,258],"implemented":[99],"realistically":[101],"render":[102],"surface\u2019s":[105],"unique":[106],"optical":[107],"properties,":[108],"including":[109],"opposition":[111],"effect":[112],"high":[114,309],"dynamic":[115],"range":[116],"lighting":[117],"conditions.":[118],"Terrain":[119],"deformation":[120],"visualization":[121],"enhanced":[123],"using":[124],"voxel-based":[125],"rendering":[126,146,185],"Smoothed":[128],"Particle":[129],"Hydrodynamics":[130],"(SPH)":[131],"data,":[133],"enabling":[134],"modeling":[136,143],"wheel-regolith":[138],"interactions.":[139],"Additionally,":[140],"volumetric":[145],"pipeline":[147],"introduced":[149],"simulate":[151],"visualize":[153],"clouds":[155],"kicked":[156],"up":[157],"rover":[159,249,274],"mobility,":[160],"accounting":[161],"their":[163],"impact":[164],"on":[165,183,284],"sensors":[166],"visibility.":[168],"Second,":[169],"Chrono::Sensor":[171],"module":[172],"expanded":[174],"novel":[177],"Time-of-Flight":[178],"(ToF)":[179],"based":[182,193],"transient":[184],"techniques.":[186],"These":[187],"enhancements":[188],"allow":[189],"SPAD-":[192],"ToF":[194],"phenomena,":[195],"providing":[196],"higher-fidelity":[197],"virtual":[198],"data":[200,230],"critical":[201],"perception":[203],"algorithm":[204],"development.":[205],"Third,":[206],"enable":[214],"efficient":[215],"management":[216,226],"terrains,":[222],"utilizing":[223],"Level-of-Detail":[224],"(LOD)":[225],"through":[227,260],"quadtree":[229],"structure.":[231],"Both":[232],"NASA":[233,269],"Lunar":[234],"Reconnaissance":[235],"Orbiter":[236],"(LRO)":[237],"datasets":[238],"procedurally":[240],"generated":[241],"terrains":[243],"integrated":[245],"extended":[248],"operations":[250],"over":[251],"kilometer-scale":[252],"domains.":[253],"environment":[257],"validated":[259],"several":[261],"applications,":[262],"in-":[263],"cluding":[264],"recreating":[265],"imagery":[266],"from":[267],"POLAR":[270],"dataset,":[271],"simulating":[272,303],"dust-affected":[273],"operations,":[275],"operating":[277],"rovers":[278],"such":[279],"as":[280,296],"VIPER":[281],"RASSOR":[283],"both":[285],"real":[286],"synthetic":[288],"terrains.":[290],"positions":[293],"comprehensive":[298],"open-source":[300],"platform":[301],"complex":[304],"scenarios":[307],"with":[308],"physical":[310],"visual":[312],"realism.":[313]},"counts_by_year":[],"updated_date":"2026-10-01T08:54:57.152042","created_date":"2026-02-02T00:00:00"}
