While simulation is vital for optimizing robotic systems, the cost of modeling deformable terrain has long limited its use in full-vehicle studies of off-road autonomous mobility. For example, Discrete Element Method (DEM) simulations are often confined to single-wheel tests, which obscures coupled wheel-vehicle-controller interactions and prevents joint optimization of mechanical design and control. This paper presents a Bayesian optimization framework that co-designs rover wheel geometry and steering controller parameters using high-fidelity, full-vehicle closed-loop simulations on deformable terrain. Using the efficiency and scalability of a continuum-representation model (CRM) for terramechanics, we evaluate candidate designs on trajectories of varying complexity while towing a fixed load. The optimizer tunes wheel parameters (radius, width, and grouser features) and steering PID gains under a multi-objective formulation that balances traversal speed, tracking error, and energy consumption. We compare two strategies: simultaneous co-optimization of wheel and controller parameters versus a sequential approach that decouples mechanical and control design. We analyze trade-offs in performance and computational cost. Across 3,000 full-vehicle simulations, campaigns finish in five to nine days, versus months with the group's earlier DEM-based workflow. Finally, a preliminary hardware study suggests the simulation-optimized wheel designs preserve relative performance trends on the physical rover. Together, these results show that scalable, high-fidelity simulation can enable practical co-optimization of wheel design and control for off-road vehicles on deformable terrain without relying on prohibitively expensive DEM studies. The simulation infrastructure (scripts and models) is released as open source in a public repository to support reproducibility and further research.
Physical Reservoir Computing in Hook-Shaped Rover Wheel Spokes for Real-Time Terrain Identification
Dyson School of Design Engineering, Imperial College London（帝国理工学院伦敦校区设计工程学院）；Department of Computer Science, University of Aberdeen（阿伯丁大学计算机科学系）；NASA Jet Propulsion Laboratory（美国国家航空航天局喷气推进实验室）
Fast Approximate Clearance Evaluation for Rovers with Articulated Suspension Systems
Jet Propulsion Laboratory（喷气推进实验室）；California Institute of Technology（加州理工学院）；Ècole Normale Supèrieure de Paris（巴黎高等师范学院）；Indian Institute of Technology（印度理工学院）
SlipNet: Enhancing Slip Cost Mapping for Autonomous Navigation on Heterogeneous and Deformable Terrains
Khalifa University Center for Autonomous and Robotic Systems (KUCARS)（哈利法大学自主与机器人系统中心）；Advanced Research and Innovation Center (ARIC)（先进研究与创新中心）；Khalifa University（哈利法大学）
Advance Simulation Method for Wheel-Terrain Interactions of Space Rovers: A Case Study on the UAE Rashid Rover
Khalifa University Center for Autonomous and Robotic Systems（哈利法大学自主与机器人系统中心）；Advanced Research and Innovation Center（先进研究与创新中心）；Khalifa University（哈利法大学）
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
SnT, University of Luxembourg（卢森堡大学安全、可靠性和信任跨学科中心）；Department of Automation and Systems Engineering, Universidad de Málaga, Andalucía Tech（马拉加大学自动化与系统工程系，安达卢西亚技术大学）
Mind the ground: A Power Spectral Density-based estimator for all-terrain rovers
Polytechnic of Bari（巴里理工大学）；University of Salento（萨伦托大学）；National Research Council（国家研究委员会）；Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing（智能工业技术与先进制造系统研究所）
Whole-Body Control With Terrain Estimation of A 6-DoF Wheeled Bipedal Robot
School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）；Direct Drive Technology Limited（直接驱动技术有限公司）；Suzhou Nuclear Power Research Institute Co., Ltd（苏州核电研究所有限公司）
Terrain-Awared LiDAR-Inertial Odometry for Legged-Wheel Robots Based on Radial Basis Function Approximation
School of Automation and Intelligent Sensing, Institute of Medical Robotics, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education（自动化与智能感知学院、医学机器人研究院、上海交通大学，系统控制与信息处理重点实验室）
Learning All-Terrain Locomotion for a Planetary Rover with Actively Articulated Suspension
Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院）；Center for Autonomy, University of Texas at Austin（自主性中心，德克萨斯大学奥斯汀分校）；Space Systems Laboratory, University of Maryland（空间系统实验室，马里兰大学）
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
French Space Agency（法国空间局）；European Space Agency（欧洲航天局）；European Union Agency for the Space Programme（欧洲联盟空间计划机构）；National Aeronautics and Space Administration（美国国家航空航天局）
Ubiquitous Field Transportation Robots with Robust Wheel-Leg Transformable Modules
Southern University of Science and Technology（南方科技大学）；Carnegie Mellon University（卡内基梅隆大学）；Hong Kong University of Science and Technology（香港科技大学）；National University of Singapore（新加坡国立大学）
Head Stabilization for Wheeled Bipedal Robots via Force-Estimation-Based Admittance Control
School of Intelligent Systems Engineering, Sun Yat-sen University（中山大学智能系统工程学院）；GAC R&D Center（GAC研发中心）；Direct Drive Technology Limited（直接驱动技术有限公司）；Suzhou Nuclear Power Research Institute Co., Ltd（苏州核电研究所有限公司）
MLNav: Learning to Safely Navigate on Martian Terrains
Jet Propulsion Laboratory, California Institute of Technology（加州理工学院喷气推进实验室）；Manipal Institute of Technology（马尼帕尔理工学院）；California Institute of Technology（加州理工学院）；Massachusetts Institute of Technology（麻省理工学院）
A3P5 NEMESIS Integrated Rover Design for Environmental Reconnaissance and Robotic Sampling with Reproducible Mobility Analysis and an External Data Machine Learning Calibration Benchmark
St. Joseph Higher Secondary School（圣约瑟夫高等中学）；BAF Shaheen College Kurmitola（孟加拉国空军沙欣学院库尔米托拉分校）；Greenland Residential School（格陵兰寄宿学校）
