# The Kinematics of Tracked Vehicles via the Power Dissipation Method

arXiv: https://arxiv.org/abs/2004.05176 · HTML: https://mlsanity.com/paper/2004.05176/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Apr 2020.

## Built on by (most cited first, 1 of 1)

- [NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge](https://mlsanity.com/paper/2103.11470/) (2021)

## Abstract (arXiv)

This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific models: a model for tracked operation on flat ground, a model for vehicle motion when the track's grouser tips touch the ground, and a model for operation on stairs. Experiments show that these models predict tracked vehicle motion more accurately than existing kinematic models, and predict phenomena which are not captured by other models. These novel models provide a basis for new feedback control approaches.