Recent developments in the ROAMS planetary rover simulation environment

This paper describes recent developments in the ROAMS physics-based simulator for planetary surface exploration rover vehicles. ROAMS includes models for various subsystems and components of the vehicle including its mechanical subsystem, sensors, on-board resources, on-board control software, the terrain environment and terrain/vehicle interactions. The ROAMS simulator can be used in stand-alone mode, for closed-loop simulation with on-board software or for operator-in-the-loop simulations.