Fig. 1 Top and perspective views of three example monofractal terrains ( a , e ), ( b , f ), and ( c , g ) generated using the 3D Weierstrass–Mandelbrot function using different parameters. An example multifractal terrain ( d ) and ( h ) using our approach, which combines the three example terrain... More about this image found in Top and perspective views of three example monofractal terrains ( a , e ), ...

Fig. 2 Example of ( a ) low-, ( b ) mid-, and ( c ) and high-frequency monofractal DEMs, combined via the pixel-wise product to create a ( d ) fourth multifractal DEM, which is imported into Unreal Engine for autonomous ground vehicle testing. Note that ( a )–( c ) have Weierstrass–Mandelbrot ridg... More about this image found in Example of ( a ) low-, ( b ) mid-, and ( c ) and high-frequency monofractal...

Fig. 3 ( a ) An example multifractal DEM with a top-down view of its grayscale image. ( b ) The DEM in ( a ) is imported, scaled, and rendered in Unreal Engine. ( c ) A perspective view of the Unreal Engine-rendered terrain with a simulated Clearpath Husky autonomous ground vehicle in view, with i... More about this image found in ( a ) An example multifractal DEM with a top-down view of its grayscale ima...

Fig. 4 An example Moore neighborhood gradient map with pixels categorized into one of three groups: low (dark shading), semi (medium shading), or high roughness (light shading) ( a ). The gradient map from ( a ) is then filtered with a morphological closing filter for random mission selection, whe... More about this image found in An example Moore neighborhood gradient map with pixels categorized into one...

Fig. 5 A bar graph of the multifractal DEM’s median areas of ( a ) low, ( b ) semi, and ( c ) high roughness, all by the fractal dimension used in the high-frequency DEM. Twenty terrain maps are generated for each of the three fractal dimension values of 2.3, 2.45, and 2.6, for a total of 60 maps.... More about this image found in A bar graph of the multifractal DEM’s median areas of ( a ) low, ( b ) semi...

Fig. 6 Boxplots of the autonomous ground vehicle's (AGV's) success rate statistics in all terrains. The boxplots are grouped by the fractal dimension used in the high-frequency digital elevation map for generation. Twenty randomly selected A-to-B straight-line paths are traversed by the AGV in 60 ... More about this image found in Boxplots of the autonomous ground vehicle's (AGV's) success rate statistics...

Fig. 7. Boxplots of the autonomous ground vehicle's ( a ) RMS vertical accelerations, ( b ) RMS pitch rates, ( c ) RMS roll rates, and ( d ) and traversal times for successful trials across all 60 terrain maps by the digital elevation maps' fractal dimension. Note that the number of successful tri... More about this image found in Boxplots of the autonomous ground vehicle's ( a ) RMS vertical acceleration...

Fig. 1 Platoon scheme More about this image found in Platoon scheme

Fig. 2 Change of air drag coefficient C d with relative distance More about this image found in Change of air drag coefficient C d with relative distance

Fig. 3 Vehicle speed v 1 , v 2 and acceleration u 1 , u 2 of mixed platoon under urban/suburban scenario More about this image found in Vehicle speed v 1 , v 2 and acceleration u 1 , u 2 ...

Fig. 4 Vehicle speed v 1 , v 2 and relative distance Δ s of mixed platoon under urban/suburban scenario More about this image found in Vehicle speed v 1 , v 2 and relative distance Δ s of...

Fig. 5 Vehicle speed v 1 , v 2 and acceleration u 1 , u 2 of mixed platoon under interstate scenario More about this image found in Vehicle speed v 1 , v 2 and acceleration u 1 , u 2 ...

Fig. 6 Vehicle speed v 1 , v 2 and relative distance Δ s of mixed platoon under interstate scenario More about this image found in Vehicle speed v 1 , v 2 and relative distance Δ s of...

Fig. 7 Wheel acceleration of the following EV and relative distance for mixed and electric platoon under urban/suburban scenario More about this image found in Wheel acceleration of the following EV and relative distance for mixed and ...

Fig. 8 Wheel acceleration of the following EV and relative distance for mixed and electric platoon under interstate scenario More about this image found in Wheel acceleration of the following EV and relative distance for mixed and ...

Fig. 1 System diagram of the combined model More about this image found in System diagram of the combined model