학위논문(박사) - 한국과학기술원 : 기계공학전공, 2012.2, [ x, 106 p. ]
장애물 극복; 가변휠형 로봇 차량; 장애물 분류; 복합 숙고/반응형 계획법; Robotic Vehicle with Actively Articulated Suspension; Obstacle Negotiation; Obstacle Classification; Hybrid deliberative/reactive planner; Wheel contact estimation; 접지휠 예측
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