Astronomy
A mobile laboratory on Mars
Explore the red terrain, stop at survey sites and operate the sampling arm. The automatic expedition drives and pauses to collect samples.
The model and its limits
Reduced six-wheel contact model on synthetic terrain at Mars gravity. Large rocks block the vehicle; small stones support its wheels. Sampling is timed; this is not a flight-rover replica, soil solver or mineral analysis.
Equations used in the module
Equations N_i = max(0, k (l0 - l_i) - c v_y); |F_t| <= mu sum(N_i); g = 3.71 m/s²
