{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T08:07:16Z","timestamp":1768723636288,"version":"3.49.0"},"reference-count":66,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2023,9,3]],"date-time":"2023-09-03T00:00:00Z","timestamp":1693699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003407","name":"Italian Ministry of Education, University and Research, PRIN project \u201cSEDUCE\u201d","doi-asserted-by":"publisher","award":["2017TWRCNB"],"award-info":[{"award-number":["2017TWRCNB"]}],"id":[{"id":"10.13039\/501100003407","id-type":"DOI","asserted-by":"publisher"}]},{"name":"internal funding program \u201cMicrogrants 2020\u201d of the University of Trieste","award":["2017TWRCNB"],"award-info":[{"award-number":["2017TWRCNB"]}]},{"name":"\u201cRegione Autonoma Friuli Venezia Giulia\u201d through the Fondo Sociale Europeo (FSE) funding","award":["2017TWRCNB"],"award-info":[{"award-number":["2017TWRCNB"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this paper, we propose an in-depth evaluation of the performance of the Archimede rover while traversing rough terrain with loose soil. In order to better analyze this, the reality gap is evaluated when simulating the behavior with an open-source simulator. To this extent, we implement a full model of the rover in the open-source dynamics simulator Gazebo, along with several types of terrains that replicate the experimental conditions. The rover control system is equipped with a kinematics model that allows for driving in different modes. We implement an odometric system aboard the rover, as well as an external optical absolute tracking system as reference. We estimate the drift occurring during driving in different configurations, two types of soil with corresponding wheel geometries. The results show good adherence of the odometry when the rover drives on planar ground; conversely, as expected, a marked influence of slope is seen on wheel drift. The reality gap between simulations and experimental results is kept comparatively small provided that slopes are not present.<\/jats:p>","DOI":"10.3390\/robotics12050125","type":"journal-article","created":{"date-parts":[[2023,9,4]],"date-time":"2023-09-04T02:14:50Z","timestamp":1693793690000},"page":"125","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["The Archimede Rover: A Comparison Between Simulations and Experiments"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4586-6823","authenticated-orcid":false,"given":"Matteo","family":"Caruso","sequence":"first","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, Via A. Valerio 6\/1, 34127 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-9083-4943","authenticated-orcid":false,"given":"Marco","family":"Giberna","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, Via A. Valerio 6\/1, 34127 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-3418-574X","authenticated-orcid":false,"given":"Martin","family":"G\u00f6rner","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), M\u00fcnchener Str. 20, 82234 We\u00dfling, Germany"}]},{"given":"Paolo","family":"Gallina","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, Via A. Valerio 6\/1, 34127 Trieste, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5563-9595","authenticated-orcid":false,"given":"Stefano","family":"Seriani","sequence":"additional","affiliation":[{"name":"Department of Engineering and Architecture, University of Trieste, Via A. Valerio 6\/1, 34127 Trieste, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2023,9,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Caruso, M., Scalera, L., Gallina, P., and Seriani, S. (2020). Dynamic modeling and simulation of a robotic lander based on variable radius drums. Appl. Sci., 10.","DOI":"10.3390\/app10248862"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Liu, Y., Li, X., Wang, P., Zhang, X., Zhu, H., and Cai, G. (2023). Multi-Objective, Multi-Disciplinary Design Optimization and Multi-Attribute Evaluation of Hybrid Rocket Motors Used for Manned Lunar Lander. 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