Introduction
Considering the wide spectrum of situations that it may encounter, a robot navigating autonomously in outdoor environments needs to be endowed with several operating modes, for robustness and efficiency reasons. Indeed, the terrain it has to traverse may be composed of flat or rough areas, low cohesive soils such as sand dunes, concrete road etc... Traversing these various kinds of environment calls for different navigation and/or locomotion functionalities, especially if the robot is endowed with different locomotion abilities, such as the robots WorkPartner, Hylos [4], Nomad or the Marsokhod rovers.
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Peynot, T., Lacroix, S. (2008). Selection and Monitoring of Navigation Modes for an Autonomous Rover. In: Khatib, O., Kumar, V., Rus, D. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 39. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-77457-0_12
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