Vehicle-terrain interaction models for analysis and performance evaluation of wheeled rovers. - Bahareh Ghotbi; Francisco González; József Kövecses; Jorge Angeles (IROS, 2012)

Effect of normal force dispersion on the mobility of wheeled robots operating on soft soil. - Bahareh Ghotbi; Francisco González; József Kövecses; Jorge Angeles (ICRA, 2014)

Mobility Assessment of Wheeled Robots Operating on Soft Terrain. - Bahareh Ghotbi; Francisco González; József Kövecses; Jorge Angeles (FSR, 2015)

Effect of gravity in wheel/terrain interaction models. - Laszlo L. Kovacs; Bahareh Ghotbi; Francisco González; Parna Niksirat; Krzysztof Skonieczny; József Kövecses (J. Field Robotics, 2020)