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Exploring and traversing extreme terrain with surface robots is difficult, but highly desirable for many applications, including exploration of planetary surfaces, search and rescue, among others. For these applications, to ensure the robot can predictably locomote, the interaction between the terrain and vehicle, terramechanics, must be incorporated into the model of the robot's locomotion. Modeling terramechanic effects is difficult and may be impossible in situations where the terrain is notarXiv:2004.00749v1 fatcat:ydj3vi62z5egjmlubhtyzjt6ie