Introduction: We have been investigating several independent data sets from recent Mars missions that provide evidence for a meters-thick, latitude-dependent surface layer [1, 2, 3]. Based on apparent physical properties observed in Mars Orbiter Camera (MOC) images and Mars Laser Altimeter (MOLA) data, and the distinct latitude dependence of these observations, we interpreted this to be an ice-...

Fuzzy Traversability Index is introduced in this paper as a new and simple measure for quantifying the ease of traversal of natural terrains by field mobile robots. This index provides a simple means for incorporating the terrain quality data into the robot navigation strategy, and is used for terrain-based navigation of field mobile robots. The Traversability Index is expressed b y fuzzy sets ...

Geometric modeling of river channel topography is a method design synthesis wherein specific 2D geometric elements topography, such as the bed profile, cross sectional shape, and planform contours, are expressed mathematically in isolation then combined to produce 3D heightmap. We utilized framework synthesize terrains that reveal flow-form-function linkages investigate what roles variability r...

1 Introduction This paper presents novel measures of terrain traversability at three different ranges; namely Local , Regional, and Global Traversability Indices. The Local Traversability Index is related by a set of linguistic rules to local obstacles and surface softness within a local perception range, measured by on-board sensors mounted on the robot. The rule-based Regional Traversability ...

For a family of bond percolation models on Z that includes the FortuinKasteleyn random cluster model, we consider properties of the “droplet” that results, in the percolating regime, from conditioning on the existence of an open dual circuit surrounding the origin and enclosing at least (or exactly) a given large area A. This droplet is a close surrogate for the one obtained by Dobrushin, Kotec...

Many animals, modern aircraft, and underwater vehicles use fusiform, streamlined body shapes that reduce fluid dynamic drag to achieve fast and effective locomotion in air and water. Similarly, numerous small terrestrial animals move through cluttered terrain where three-dimensional, multi-component obstacles like grass, shrubs, vines, and leaf litter also resist motion, but it is unknown wheth...