This list is provided as a service to the community, to help anyone starting in this field. If your publication is missing in this list, please email me at philippe.giguere@ift.ulaval.ca, and I will gladly add it. Please note that there are some conferences/years missing.

Last modified : September 23rd, 2014.

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Some of our work in terrain identification for mobile robots:

1.	Unsupervised Learning for Mobile Robot Terrain Classification Ph.D. thesis, McGill University, 2010.	pdf
2.	Using Gait Change for Terrain Sensing by Robots Sandeep Manjanna, Gregory Dudek and Philippe Giguere. Tenth Conference on Computer and Robot Vision (CRV), Regina, Canada. May 2013.	pdf
3.	Surface Identification Using Simple Contact Dynamics for Mobile Robots Philippe Giguere and Gregory Dudek. IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 12-17, 2009.	pdf	dataset
4.	Clustering sensor data for autonomous terrain identification using time-dependency Philippe Giguere and Gregory Dudek. In Autonomous Robots, March 2009, pp. 171-186.	pdf
5.	Environment Identification for a Running Robot Using Inertial and Actuator Cues Philippe Giguere, Gregory Dudek, Chris Prahacs and Shane Saunderson Robotics Science and System (RSS), Philadelphia, U.S.A, August, 2006. pp 271-278.	pdf

Other work in terrain identification, by year of publication.
Recently added work are indicated by the NEW mention.

NEW	Rigidity-Based Surface Recognition for a Domestic Legged Robot Kertesz, C. IEEE Robotics and Automation Letters, Volume 1, No 1, Jan 2016, pp.309-315.
NEW	Feature Extraction for Terrain Classification with Crawling Robots J. Mrva, J. Faigl Information Technologies–Applications and Theory, 2015.
NEW	A Self-learning Framework for Statistical Ground Classification using Radar and Monocular Vision Milella, A.; Reina, G.; Underwood, J. Journal of Field Robotics, Volume 32, Issue 1, 2015, pp. 20-41.
NEW	Terrain Classification in Complex Three-dimensional Outdoor Environments Santamaria-Navarro, À.;Teniente, E. H.; Morta, M.; Andrade-Cetto, J. Journal of Field Robotics, Volume 32, Issue 1, 2015, pp. 42-60.
NEW	The effect of motor action and different sensory modalities on terrain classification in a quadruped robot running with multiple gaits Hoffmann, M., Stepanova, K, Reinstein, M. Robotics and Autonomous Systems (62), pp. 1790-1798, 2014.
NEW	Terrain Classification and Negotiation with a Walking Robot Krzysztof Walas Journal of Intelligent & Robotic System, July 2014.
NEW	Detection of Slippery Terrain with a Heterogeneous Team of Legged Robots D. W. Haldane, P. Fankhauser, R. Siegwart, and R. S. Fearing IEEE International Conference on Robotics and Automation (ICRA), 2014.
NEW	Exploring Surface Detection for a Quadruped Robot in Households Csaba, Kertész 14th IEEE International Conference on Autonomous Robot Systems and Competitions (IEEE-ICARSC 2014), 2014.
NEW	Terrain Classification using a Hexapod Robot G. Best, P. Moghadam, N. Kottege, L. Kleeman Australasian Conference on Robotics and Automation, 2013.
NEW	Hardware implementation of ground classification for a walking robot Walas, K.; Schmidt, A; Kraft, M.; Fularz, M Workshop on Robot Motion and Control (RoMoCo), 2013.
*	Terrain Adaptive Odometry for Mobile Skid-steer Robots Michal Reinstein, Vladimir Kubelka, Karel Zimmermann IEEE International Conference on Robotics and Automation (ICRA), 2013.
NEW	System identification applied to contact modeling: An experimental investigation Arevalo, J.C.; Carrillo, X.; Cestari, M.; Sanz-Merodio, D.; Garcia, E. IEEE International Conference on Robotics and Automation (ICRA), 2013.
NEW	Unsupervised identification and prediction of foothold robustness Hoepflinger, M.A.; Hutter, M.; Gehring, C.; Bloesch, M.; Siegwart, R IEEE International Conference on Robotics and Automation (ICRA), 2013.
NEW	Traversability estimation for a planetary rover via experimental kernel learning in a Gaussian process framework Ho, K.; Peynot, T.; Sukkarieh, S. IEEE International Conference on Robotics and Automation (ICRA), 2013.
NEW	Terrain Classification for a Quadruped Robot Degrave, J.; Cauwenbergh, R. V.; Wyffels, F.; Waegeman, T.; Schrauwen B. International Conference on Machine Learning and Applications (ICMLA), 2013.
NEW	A fuzzy logic based terrain identification approach to prosthesis control using multi-sensor fusion Kebin Yuan; Shiqi Sun; Zikang Wang; Qining Wang; Long Wang IEEE International Conference on Robotics and Automation (ICRA), 2013.
NEW	Intelligent traction control in electric vehicles using an acoustic approach for online estimation of road-tire friction Boyraz, P.; Dogan, D IEEE Intelligent Vehicles Symposium (IV), 2013
NEW	A near-to-far non-parametric learning approach for estimating traversability in deformable terrain Ken Ho; Peynot, T.; Sukkarieh, S IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
NEW	Navigability analysis of natural terrains with fuzzy elevation maps from ground-based 3D range scans Martinez, J.L.; Mandow, A.; Reina, A.; Cantador, T.J.; Morales, J.; Garcia-Cerezo, A IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
NEW	Adaptation of quadruped gaits using surface classification and gait optimization Jeong-Jung Kim; Ju-Jang Lee IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
NEW	High fidelity day/night stereo mapping with vegetation and negative obstacle detection for vision-in-the-loop walking Bajracharya, M.; Ma, J.; Malchano, M.; Perkins, A.; Rizzi, A.A.; Matthies, L IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
*	Terrain Identification for RHex-type Robots Camilo Ordonez Jacob Shill, Aaron Johnson, Jonathan Clark, and Emmanuel Collins Proceedings of the SPIE Defense, Security, and Sensing Conference, Unmanned Systems Technology XV (8741), May, 2013.
NEW	Visual terrain classification for selecting energy efficient gaits of a hexapod robot Zenker, S.; Aksoy, E.E.; Goldschmidt, D.; Worgotter, F.; Manoonpong, P IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2013.
NEW	Terrain classification with conditional random fields on fused 3D LIDAR and camera data Laible, S.; Khan, Y.N.; Zell, A European Conference on Mobile Robots (ECMR) , 2013.
*	Data fusion with Gaussian processes Shrihari Vasudevan Robotics and Autonomous Systems, Volume 60, Issue 12, pp.1528-1544, December 2012.
*	Using sensorimotor contingencies for terrain discrimination and adaptive walking behavior in the quadruped robot Puppy Hoffmann, M.; Schmidt, N.; Pfeifer, R.; Engel, A. & Maye, A. in From animals to animats 12: Proc. Int. Conf. Simulation of Adaptive Behaviour (SAB), pp.54-64, 2012.
NEW	Indoor robotic terrain classification via angular velocity based hierarchical classifier selection Tick, D.; Rahman, T.; Busso, C.; Gans, N. IEEE International Conference on Robotics and Automation (ICRA), 2012.
NEW	Visual terrain classification by flying robots Khan, Y.N.; Masselli, A.; Zell, A IEEE International Conference on Robotics and Automation (ICRA), 2012.
NEW	Using sound to classify vehicle-terrain interactions in outdoor environments Libby, J.; Stentz, A.J IEEE International Conference on Robotics and Automation (ICRA), 2012.
NEW	A geological perception system for autonomous mining Schneider, S.; Melkumyan, A.; Murphy, R.J.; Nettleton, IEEE International Conference on Robotics and Automation (ICRA), 2012.
*	Performance analysis and terrain classification for a legged robot over rough terrain Fernando L. Garcia Bermudez, Ryan C. Julian, Duncan W. Haldane, Pieter Abbeel, and Ronald S. Fearing IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
*	Feature-Based Terrain Classification For LittleDog Paul Filitchkin and Katie Byl IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
*	Vehicle-Terrain Interaction Models for Analysis and Performance Evaluation of Wheeled Rovers B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
*	Creating and Using Probabilistic Costmaps from Vehicle Experience Liz Murphy, Steven Martin and Peter Corke IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
*	Aiding O-Road Inertial Navigation with High Performance Models of Wheel Slip Forrest Rogers-Marcovitz, Michael George, Neal Seegmiller, and Alonzo Kelly IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
NEW	Semantic categorization of outdoor scenes with uncertainty estimates using multi-class gaussian process classification Paul, R.; Triebel, R.; Rus, D.; Newman, P. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
NEW	Simplified markov random fields for efficient semantic labeling of 3D point clouds Yan Lu; Rasmussen, C. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012.
NEW	Parallelized energy minimization for real-time Markov random field terrain classification in natural environments Haselich, M.; Eggert, S.; Paulus, D IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012.
NEW	Towards speed-independent road-type classification Shifeng Wang; Kodagoda, S.; Khushaba, R International Conference on  Control Automation Robotics & Vision (ICARCV), 2012.
NEW	Learning the terrain and planning a collision-free trajectory for indoor post-disaster environments Kostavelis, I.; Gasteratos, A.; Boukas, E.; Nalpantidis, L IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2012
NEW	Gangqiang Zhao; Xuhong Xiao; Junsong Yuan Fusion of Velodyne and camera data for scene parsing International Conference on Information Fusion (FUSION), 2012.
*	Non-stationary dependent Gaussian processes for data fusion in large-scale terrain modeling Vasudevan, S.; Ramos, F.; Nettleton, E.; Durrant-Whyte, H.; IEEE International Conference on Robotics and Automation (ICRA), 2011.
*	Speed independent terrain classification using Singular Value Decomposition Interpolation Coyle, E.; Collins, E.G.; Roberts, R.G.; IEEE International Conference on Robotics and Automation (ICRA), 2011.
*	Terramechanics evaluation of low-pressure wheel on deformable terrain Narita, S.; Otsuki, M.; Wakabayashi, S.; Nishida, S.; IEEE International Conference on Robotics and Automation (ICRA), 2011.
*	Application of a diameter-dependent terramechanics model to small-wheeled unmanned ground vehicles operating on deformable terrain Meirion-Griffith, G.; Spenko, M.; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
*	Fast computation of wheel-soil interactions for safe and efficient operation of mobile robots Zhenzhong Jia; Smith, W.; Huei Peng IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
*	Detection and tracking of road networks in rural terrain by fusing vision and LIDAR Manz, M.; Himmelsbach, M.; Luettel, T.; Wuensche, H.; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
*	Combining radar and vision for self-supervised ground segmentation in outdoor environments Milella, A.; Reina, G.; Underwood, J.; Douillard, B.; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
*	Using unmanned ground vehicle performance measurements as a unique method of terrain classification Odedra, Siddharth; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
*	Updating control modes based on terrain classification Coyle, E.; Collins, E.G.; Liang Lu; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Haptic terrain classification for legged robots Hoepflinger, M.A.; Remy, C.D.; Hutter, M.; Spinello, L.; Siegwart, R.; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Coping with imbalanced training data for improved terrain prediction in autonomous outdoor robot navigation Procopio, M.J.; Mulligan, J.; Grudic, G.; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Heteroscedastic Gaussian processes for data fusion in large scale terrain modeling Vasudevan, S.; Ramos, F.; Nettleton, E.; Durrant-Whyte, H.; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Ground plane identification using LIDAR in forested environments McDaniel, M.W.; Nishihata, T.; Brooks, C.A.; Iagnemma, K.; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Terramechanics-based high-fidelity dynamics simulation for wheeled mobile robot on deformable rough terrain Liang Ding; Nagatani, K.; Sato, K.; Mora, A.; Yoshida, K.; Haibo Gao; Zongquan Deng; IEEE International Conference on Robotics and Automation (ICRA), 2010.
*	Adaptive rover behaviorbased on online empirical evaluation: Rover-terrain interaction and near-to-far learning, Ambroise Krebs, Cedric Pradalier, and Roland Siegwart J. Field Robot. 27, no. 2, 158-180, 2010.
*	Markov random field-based clustering of vibration data Philippe Komma and Andreas Zell IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
*	Robust ground plane detection for obstacle avoidance of mobile robots using a monocular camera Chia-How Lin; Sin-Yi Jiang; Yueh-Ju Pu; Kai-Tai Song; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010.
NEW	Adaptive Vibration Cancellation for Tire-Road Friction Coefficient Estimation on Winter Maintenance Vehicles Erdogan, G.; Alexander, L.; Rajamani, R IEEE Transactions on Control Systems Technology, 2010
NEW	An automatic image recognition system for winter road surface condition classification Omer, R.; Liping Fu International IEEE Conference on Intelligent Transportation Systems (ITSC), 2010.
*	Mobility reconfiguration for terrain exploration using passive perception Douglas Brooks, Ayanna M. Howard International Conference on Robotics and Automation (ICRA), 2009.
*	Adaptive bayesian filtering for vibration-based terrain classification Komma, Philippe and Weiss, Christian and Zell, Andreas International Conference on Robotics and Automation (ICRA), 2009.
*	Gaussian Process modeling of large scale terrain Shrihari Vasudevan, Fabio Ramos, Eric Nettleton and Hugh Durrant-Whyte International Conference on Robotics and Automation (ICRA), 2009.
*	Terrain surface classification for autonomous ground vehicles using a 2D laser stripe-based structured light sensor Liang Lu and Ordonez, C. and Collins, E.G. and DuPont, E.M IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
*	A multi-element generalized polynomial chaos approach to analysis of mobile robot dynamics under uncertainty Kewlani, Gaurav; Iagnemma, Karl IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
*	Slip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil: Definition and Estimation Liang Ding, Haibo Gao, Zongquan Deng, Kazuya Yoshida, and Keiji Nagatani IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
*	Parameter Identification for Planetary Soil Based on a Decoupled Analytical Wheel-Soil Interaction Terramechanics Model Liang Ding, Kazuya Yoshida, Keiji Nagatani, Haibo Gao and Zongquan Deng IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009.
NEW	Road characteristic identification based on wavelet neural network Lu Junhui; Zhou Rongzheng; Ding Jianjun; Wu Shijing IEEE Intelligent Vehicles Symposium, 2009.
*	Vehicle vibrating on a soft compacting soil half-space: Ground vibrations, terrain damage, and vehicle vibrations Robert Hildebrand, Erno Keskinen, and Jos Antonio Romero Navarrete Journal of Terramechanics 45, no. 4, pp. 121-136, 2008.
*	Novelty detection and online learning for vibration-based terrain classication C. Weiss and A. Zell Proceedings of the 10th International Conference on Intelligent Autonomous Systems (IAS),  pp. 16-25, 2008.
*	Frequency response method for terrain classication in autonomous ground vehicles Edmond M. Dupont, Carl A. Moore, Jr. Emmanuel G. Collins, and Eric Coyle Autonomous Robots 24:4, pp. 337-347, 2008.
*	Online, self-supervised terrain classification via discriminatively trained submodular Markov random fields Paul Vernaza, Ben Taskar, Daniel D. Lee International Conference on Robotics and Automation (ICRA), 2008.
*	A Single Camera Terrain Slope Estimation Technique for Natural Arctic Environments Stephen Williams, Ayanna M. Howard International Conference on Robotics and Automation (ICRA), 2008.
*	Terrain classification for mobile robots traveling at various speeds: An eigenspace manifold approach Edmond M. DuPont, Carl A. Moore, and Rodney G. Roberts International Conference on Robotics and Automation (ICRA), 2008.
*	Vibration-based terrain classification using surface profile input frequency responses Emmanuel G. Collins, Jr. and Eric J. Coyle International Conference on Robotics and Automation (ICRA), 2008.
*	Learning long-range terrain classification for autonomous navigation Max Bajracharya, Benyang Tang, Andrew Howard, Michael Turmon, Larry Matthies International Conference on Robotics and Automation (ICRA), 2008.
*	A Combination of Vision- and Vibration-based Terrain Classication Christian Weiss, Hashem Tamimi, and Andreas Zell IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
*	Improvement of dead reckoning accuracy of a mobile robot by slip detection and compensation using multiple model approach Hyoung-Ki Lee; Kiwan Choi; Jiyoung Park; Yeon-Ho Kim; Seokwon Bang; IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
*	Fast color/texture segmentation for outdoor robots Morten Rufus Blas, Motilal Agrawal, Aravind Sundaresan, Kurt Konolige IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
*	Learning predictive terrain models for legged robot locomotion Christian Plagemann, Sebastian Mischke, Sam Prentice, Kristian Kersting, Nicholas Roy, Wolfram Burgard IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
*	Sensing terrain parameters and the characteristics of vehicle-terrain interaction using the multimode locomotion system of a robot Ilkka M. Leppänen, Petri J. Virekoski, and Aarne J. Halme IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
*	A stochastic response surface approach to statistical prediction of mobile robot mobility Gaurav Kewlani, Karl Iagnemma IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2008.
NEW	Intelligent observer-based road surface condition detection and identification Lin, P.P.; Maosheng Ye; Kuo-Ming Lee IEEE International Conference on Systems, Man and Cybernetics (SMC), 2008.
NEW	Real-time identification of tire-road friction conditions Tanelli, M.; Piroddi, L.; Piuri, M.; Savaresi, S.M., IEEE International Conference on Control Applications, 2008.
*	Comparison of different approaches to vibration-based terrain classication Christian Weiss, N. Fechner, M Stark, and A Zell, Proceedings of the 3rd European Conference on Mobile Robots (ECMR 2007), pp. 7-12, September 2007.
*	Trajectory Control of a Four-Wheel Skid-Steering Vehicle over Soft Terrain using a Physical Interaction Model D. Lhomme-Desages, Ch. Grand and J-C. Guinot International Conference on Robotics and Automation (ICRA), 2007.
*	Vegetation Detection for Driving in Complex Environments David Bradley, Ranjith Unnikrishnan, and J. Andrew (Drew) Bagnell International Conference on Robotics and Automation (ICRA), 2007.
*	Model-Based Wheel Slip Detection for Outdoor Mobile Robots Chris C. Ward and Karl Iagnemma International Conference on Robotics and Automation (ICRA), 2007.
*	Classification-Based Wheel Slip Detection and Detector Fusion for Outdoor Mobile Robots Chris C. Ward and Karl lagnemma International Conference on Robotics and Automation (ICRA), 2007.
*	On-line energy-based method for soil estimation and classification in autonomous excavation S.M.Vahed, H.A.Delaimi, K. Althoefer, and L.D. Seneviratne IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2007.
*	Validation of soil parameter identification for track-terrain interaction Dynamics Hutangkabodee, S. and Zweiri, Y.H. and Seneviratne, L.D. and Althoefer, K. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2007.
*	Terrain understanding for robot navigation Robert E. Karlsen and Gary Witus IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2007.
*	Evolving Gaits for Increased Discriminability in Terrain Classification Amy C. Larson, Richard M. Voyles, Jaewook Bae, and Roy Godzdanker IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2007.
*	Vibration-based terrain classification using support vector machines Christian Weiss, Holger Frohlich, and Andreas Zell IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2006, pp. 4429-4434.
*	Performance Prediction of a Wheeled Vehicle on Unknown Terrain Using Identified Soil Parameters Suksun Hutangkabodee, Yahya H Zweiri, Lakmal D Seneviratne, Kaspar Althoefer IEEE International Conference on Robotics and Automation (ICRA), 2006.
*	Enhancing supervised terrain classification with predictive unsupervised learning M. Happold, M. Ollis, and N. Johnson Robotics: Science and Systems (Philadelphia, USA), August 2006.
*	Slip prediction using visual information A. Angelova, L. Matthies, D. Helmick, and P. Perona Robotics: Science and Systems (Philadelphia, USA), August 2006.
NEW	Research On Fuzzy Road Surface Identification and Logic Control for Anti-lock Braking System Zhiguo Zhao; Zhuoping Yu; Zechang Sun IEEE International Conference on Vehicular Electronics and Safety (ICVES), 2006.
*	Speed independent terrain classification E.M. DuPont, R.G. Roberts, and C.A. Moore Thirty-Eighth Southeastern Symposium on System Theory, pp. 240-244, March 2006.
*	Vibration-based terrain classication for planetary exploration rovers, Chris A. Brooks and Karl Iagnemma, IEEE Transactions on Robotics, 21:6, pp. 1185-1191,2005.
*	Vibration-based Terrain Analysis for Mobile Robots Christopher Brooks, Karl Iagnemma, and Steven Dubowsky International Conference on Robotics and Automation (ICRA), 2005.
*	Reactive Speed Control System Based on Terrain Roughness Detection Castelnovi, Mattia and Arkin, Ronald C. and Collins, Thomas IEEE International Conference on Robotics and Automation (ICRA), pp. 891-896, 2005.
NEW	Soft computing for visual terrain perception and traversability assessment by planetary robotic systems Shirkhodaie, A.; Amrani, R.; Tunstel, E IEEE International Conference on Systems, Man and Cybernetics, 2005.
*	Autonomous ground vehicle terrain classication using internal sensors D. Sadhukhan Master's thesis, Florida State University, 2004.
*	Terrain classification through weakly-structured vehicle/terrain interaction A. C. Larson, R. M. Voyles, and G. K. Demir IEEE International Conference on Robotics and Automation (ICRA), pp. 218–224, 2004.
NEW	Visual, tactile, and vibration-based terrain analysis for planetary rovers Iagnemma, K.; Brooks, C.; Dubowsky, S. Proceedings of IEEE Aerospace Conference, pp. 841-848, 2004.
*	Online terrain estimation using internal sensors, D. Sadhukhan and C. Moore Proceedings of the Florida conference on recent advances in robotics, 2003.
NEW	An experimental study with alternate measurement systems for estimation of tire-road friction coefficient Wang, J.; Agrawal, P.; Alexander, L.; Rajamani, R Proceedings of the American Control Conference, 2003.
*	Terrain mapping for a walking planetary rover Eric Krotkov and Regis Homan IEEE Transactions on Robotics and Automation 10 (1994), pp. 728-739.