Andrei Mitriakov Panagiotis Papadakis Sao Mai Nguyen Serge Garlatti Staircase Negotiation Learning for Articulated Tracked Robots with Varying Degrees of Freedom. 394-400 2020 SSRR https://doi.org/10.1109/SSRR50563.2020.9292594 conf/ssrr/2020 db/conf/ssrr/ssrr2020.html#MitriakovPNG20