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trajectory control of off-road mobile robots: A multi-model observer approach. Abstract-In this paper, the problems associated with accurate path tracking control in off-road conditions is addressed with model-based adaptive control. In particular, the estimation of grip conditions is investigated through the derivation of a new observer and by gathering kinematic and dynamic models into a single framework. This new reference point employs a unique observer regardless of the velocity of thedoi:10.1109/icra.2017.7989509 dblp:conf/icra/DeremetzLTR17 fatcat:6p2wkkchtnfg7hp7xqn77mm6cq