{"id":"https://openalex.org/W7140097557","doi":"https://doi.org/10.1109/isparo66239.2025.11436656","title":"Rover Mobility in a Lunar Analogue Dataset","display_name":"Rover Mobility in a Lunar Analogue Dataset","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W7140097557","doi":"https://doi.org/10.1109/isparo66239.2025.11436656"},"language":"en","primary_location":{"id":"doi:10.1109/isparo66239.2025.11436656","doi":"https://doi.org/10.1109/isparo66239.2025.11436656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436656","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"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/A5130408482","display_name":"Bailey C. Hopkins","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bailey C. Hopkins","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130381756","display_name":"Ryan Hartzell","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Hartzell","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067277996","display_name":"Ethan Paul","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ethan J. Paul","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130358980","display_name":"Cameron Hinkle","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cameron Hinkle","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130385896","display_name":"Charles Yuroff","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Charles Yuroff","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123179810","display_name":"Chris Dreyer","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Dreyer","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021547135","display_name":"Frances Zhu","orcid":"https://orcid.org/0000-0001-8259-6183","observed_orcids":["https://orcid.org/0000-0001-8259-6183"]},"institutions":[{"id":"https://openalex.org/I167576493","display_name":"Colorado School of Mines","ror":"https://ror.org/04raf6v53","country_code":"US","type":"education","lineage":["https://openalex.org/I167576493"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frances Zhu","raw_affiliation_strings":["Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Colorado School of Mines,Department of Mechanical Engineering,Golden,CO,USA","institution_ids":["https://openalex.org/I167576493"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I167576493"],"apc_list":null,"apc_paid":null,"fwci":5.9579,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.9692373,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"461","last_page":"468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"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"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/rover-mobility","display_name":"rover mobility","score":0.9290000200271606},{"id":"https://openalex.org/keywords/terramechanics","display_name":"terramechanics","score":0.9620000123977661},{"id":"https://openalex.org/keywords/wheel-soil-interaction","display_name":"wheel-soil interaction","score":0.9710000157356262},{"id":"https://openalex.org/keywords/mobility-data","display_name":"mobility data","score":0.5960000157356262},{"id":"https://openalex.org/keywords/digital-twin-simulation","display_name":"digital twin simulation","score":0.875},{"id":"https://openalex.org/keywords/system-identification","display_name":"system identification","score":0.9120000004768372}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8449000120162964},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6018000245094299},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5331000089645386},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5315999984741211},{"id":"https://openalex.org/C181843262","wikidata":"https://www.wikidata.org/wiki/Q640492","display_name":"Digital elevation model","level":2,"score":0.4560999870300293},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.4244000017642975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35989999771118164},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3506999909877777},{"id":"https://openalex.org/C2983128922","wikidata":"https://www.wikidata.org/wiki/Q1789829","display_name":"Digital surface","level":3,"score":0.33399999141693115},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.3230000138282776},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.31859999895095825},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.31690001487731934},{"id":"https://openalex.org/C101780184","wikidata":"https://www.wikidata.org/wiki/Q840576","display_name":"Dissemination","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C138774019","wikidata":"https://www.wikidata.org/wiki/Q7201252","display_name":"Planetary surface","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isparo66239.2025.11436656","doi":"https://doi.org/10.1109/isparo66239.2025.11436656","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isparo66239.2025.11436656","pdf_url":null,"source":{"id":"https://openalex.org/S7407097202","display_name":"International Conference on Space Robotics (iSpaRo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Space Robotics (iSpaRo)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9","score":0.5378999710083008}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2890848579","https://openalex.org/W4416307162"],"related_works":["https://openalex.org/W4395704624","https://openalex.org/W7117255298","https://openalex.org/W2766012503","https://openalex.org/W7120272714","https://openalex.org/W2243320769","https://openalex.org/W2739278733","https://openalex.org/W7038074411","https://openalex.org/W2090566988","https://openalex.org/W2964399608","https://openalex.org/W7214527652"],"abstract_inverted_index":{"Planetary":[0],"surface":[1,46],"missions":[2],"depend":[3],"on":[4,17],"reliable":[5],"rover":[6,42,88],"traversability":[7,15,116],"across":[8],"diverse":[9],"terrain":[10,26,97],"conditions.":[11],"Accurate":[12],"prediction":[13],"of":[14,21,87,115],"relies":[16],"terramechanics,":[18],"the":[19,77,101],"study":[20],"wheel-soil":[22],"interactions,":[23],"which":[24],"links":[25],"properties":[27],"to":[28],"vehicle":[29],"dynamics.":[30],"Building":[31],"and":[32,64,75,96,108,113,121],"validating":[33],"terramechanics-based":[34],"models":[35],"require":[36],"high-fidelity":[37],"datasets":[38,50],"that":[39],"couple":[40],"specific":[41],"geometries":[43],"with":[44],"well-characterized":[45],"topographies,":[47],"yet":[48],"such":[49],"remain":[51],"sparse":[52],"or":[53],"incomplete.":[54],"This":[55],"paper":[56],"presents":[57],"a":[58,83],"streamlined":[59],"experimental":[60],"pipeline":[61],"for":[62],"generating":[63],"disseminating":[65],"comprehensive":[66],"mobility":[67],"datasets.":[68],"We":[69],"describe":[70],"our":[71],"rover,":[72],"test":[73],"campaigns,":[74],"detail":[76],"data-acquisition":[78],"architecture.":[79],"Additionally,":[80],"we":[81],"release":[82],"publicly":[84],"accessible":[85],"repository":[86],"state":[89],"&":[90],"action":[91],"time":[92],"series,":[93],"wheel":[94],"imagery,":[95],"scans":[98],"captured":[99],"in":[100],"Mines":[102],"Lunar":[103],"Surface":[104],"Simulator.":[105],"The":[106],"dataset":[107],"methodology":[109],"enable":[110],"rapid":[111],"development":[112],"validation":[114],"metrics,":[117],"digital":[118],"twin":[119],"simulation,":[120],"system":[122],"identification.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-10-28T10:33:24.094632","created_date":"2026-03-24T00:00:00"}