1. Hardware architectures for mobile robots

The main function of a mobile robot is to transport a payload – which may be an asset, a simple sensor or a manipulation system – to a given location in the environment. Ground robots, thanks to their connection to the ground, create a propulsive force at this interface, enabling them to make a move (figure 1 ). Although this mode has no real biological equivalent, continuous rolling is the most efficient means of transport when the ground surface is flat. This efficiency is due to the mechanical simplicity of the rolling element and the low energy consumption required due to the absence of variation in kinetic and potential energies.