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The use of autonomous rovers for planetary exploration is crucial to traverse long distances and perform new discoveries on other planets. One of the most important issues is related to the interaction between the rover wheel and terrain, which would help to save energy and even avoid getting entrapped. The use of reconfigurable rovers with different locomotion modes has demonstrated improvement of traction and energy consumption. Therefore, the objective of this paper is to determine the bestdoi:10.3390/electronics8070818 fatcat:t7xl3yw7lzh3fhwtbrkntswxse