Fig. 5

Dataset of slip vs. slope and power consumption vs. slope collected on nine different surfaces. The slip values higher than 1.0 on small rocks and sand-covered bedrock were triggered by the downhill skid as the vehicle attempted to move uphill. The negative slip values mainly resulted from errors in the wheel and visual-inertial odometries, as well as the incomplete time synchronizations of these data. Individual data of each domain is plotted in Fig. 6 for slip and Fig. 7 for power consumption