{"id":"https://openalex.org/W2100029105","doi":"https://doi.org/10.1109/iros.2011.6094512","title":"Application of a diameter-dependent terramechanics model to small-wheeled unmanned ground vehicles operating on deformable terrain","display_name":"Application of a diameter-dependent terramechanics model to small-wheeled unmanned ground vehicles operating on deformable terrain","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2100029105","doi":"https://doi.org/10.1109/iros.2011.6094512","mag":"2100029105"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094512","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","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/A5074166726","display_name":"Gareth Meirion\u2010Griffith","orcid":null},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"G. Meirion-Griffith","raw_affiliation_strings":["Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, USA","Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, USA","institution_ids":["https://openalex.org/I180949307"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077307223","display_name":"Matthew Spenko","orcid":"https://orcid.org/0000-0001-6483-5339"},"institutions":[{"id":"https://openalex.org/I180949307","display_name":"Illinois Institute of Technology","ror":"https://ror.org/037t3ry66","country_code":"US","type":"education","lineage":["https://openalex.org/I180949307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Spenko","raw_affiliation_strings":["Faculty of the Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","Faculty of the Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, 60616, USA"],"affiliations":[{"raw_affiliation_string":"Faculty of the Mechanical, Materials, and AeroSpace Engineering Department, Illinois Institute of Technology, Chicago, IL, USA","institution_ids":["https://openalex.org/I180949307"]},{"raw_affiliation_string":"Faculty of the Mechanical, Materials, and Aerospace Engineering Department, Illinois Institute of Technology, Chicago, 60616, USA","institution_ids":["https://openalex.org/I180949307"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5074166726"],"corresponding_institution_ids":["https://openalex.org/I180949307"],"apc_list":null,"apc_paid":null,"fwci":2.6846,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.91813804,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"305","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T14445","display_name":"Transportation Safety and Impact Analysis","score":0.9922000169754028,"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/T12732","display_name":"Agriculture and Farm Safety","score":0.970300018787384,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8778449296951294},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8253644108772278},{"id":"https://openalex.org/keywords/traction","display_name":"Traction (geology)","score":0.7704398036003113},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.7337819337844849},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.6064499616622925},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4979894161224365},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4354979991912842},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3836870789527893},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.37922078371047974},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.37811774015426636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3088899254798889},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2869272828102112},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.15639394521713257},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13232088088989258}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8778449296951294},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8253644108772278},{"id":"https://openalex.org/C38834483","wikidata":"https://www.wikidata.org/wiki/Q17000223","display_name":"Traction (geology)","level":2,"score":0.7704398036003113},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.7337819337844849},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.6064499616622925},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4979894161224365},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4354979991912842},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3836870789527893},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.37922078371047974},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.37811774015426636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3088899254798889},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2869272828102112},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.15639394521713257},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13232088088989258},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094512","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2038483892","https://openalex.org/W2060039135","https://openalex.org/W2064690350","https://openalex.org/W2064784282","https://openalex.org/W2137112937","https://openalex.org/W2151435677","https://openalex.org/W2159559414","https://openalex.org/W2186595452","https://openalex.org/W2289628916","https://openalex.org/W2324830312","https://openalex.org/W2333392838","https://openalex.org/W2376260505","https://openalex.org/W2615434978","https://openalex.org/W2798404144","https://openalex.org/W4210274491","https://openalex.org/W4248831416","https://openalex.org/W6686597631","https://openalex.org/W6709731014"],"related_works":["https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2121570796","https://openalex.org/W3150144014","https://openalex.org/W2166449590","https://openalex.org/W2024135719","https://openalex.org/W2027854881","https://openalex.org/W2153812487"],"abstract_inverted_index":{"Applications":[0],"ranging":[1],"from":[2],"planetary":[3],"exploration":[4],"to":[5,13,31,45,80,97,153],"military":[6],"operations":[7],"require":[8],"small":[9],"unmanned":[10,130],"ground":[11,131],"vehicles":[12,81],"traverse":[14],"deformable":[15,52],"terrains":[16,25],"such":[17,24],"as":[18],"sand":[19],"or":[20],"moist":[21],"earth.":[22],"Crossing":[23],"can":[26,35],"be":[27,154],"difficult":[28],"because":[29],"failure":[30],"generate":[32],"enough":[33],"traction":[34,50],"result":[36],"in":[37,87,102],"immobilization":[38],"and":[39,141],"mission":[40],"failure.":[41],"Thus,":[42],"the":[43,92,98,124,142,145],"ability":[44],"accurately":[46],"predict":[47],"a":[48,95,108,119],"vehicle's":[49],"on":[51,64,110,138],"terrain":[53],"is":[54,116,151],"critical.":[55],"Traditionally":[56],"this":[57],"has":[58,69],"been":[59,70],"accomplished":[60],"via":[61],"terramechanics":[62,74],"based":[63],"Bekker":[65,103],"theory.":[66],"However,":[67],"it":[68],"shown":[71],"that":[72,105,122],"classical":[73],"loses":[75],"considerable":[76],"accuracy":[77],"when":[78],"applied":[79],"with":[82],"wheels":[83],"less":[84],"than":[85,158],"50cm":[86],"diameter.":[88,112],"This":[89],"paper":[90],"details":[91],"development":[93],"of":[94,127],"modification":[96],"pressure-sinkage":[99],"relationship":[100],"used":[101],"theory":[104],"explicitly":[106],"includes":[107],"dependence":[109],"wheel":[111],"The":[113,148],"new":[114,149],"model":[115,150],"integrated":[117],"into":[118],"numerical":[120],"simulation":[121],"predicts":[123],"tractive":[125],"performance":[126],"an":[128],"experimental":[129],"vehicle":[132],"(UGV).":[133],"Field":[134],"tests":[135],"are":[136],"performed":[137],"sandy":[139],"terrain,":[140],"results":[143],"validate":[144],"simulated":[146],"predictions.":[147],"found":[152],"significantly":[155],"more":[156],"accurate":[157],"previous":[159],"models.":[160]},"counts_by_year":[{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
