1. Asaf, Z., Shmulevich, I., and Rubinstein, D., 2006. Predicting soil–rigid wheel performance using distinct element methods. Transactions of the ASABE, 49(3), 607–616.
2. Bekker, M. G., 1956. Theory of Land Locomotion. Ann Arbor: University of Michigan Press.
3. Bekker, M. G., 1960. Off-the-Road Locomotion. Ann Arbor: University of Michigan Press.
4. Cundall, P. A., and Strack, O. D. L., 1979. Discrete numerical model for granular assemblies. Geotechnique, 29(1), 47–65.
5. Hopkins, M. A., Johnson, J. B., and Sullivan, R., 2008. Discrete element modeling of a rover wheel in granular material under the influence of Earth, Mars, and Lunar Gravity. In Proceedings of the Earth and Space 2008, 11th ASCE Aerospace Division International Conference on Engineering, Science, Construction, and Operations in Challenging Environments, Long Beach, March 3–5, pp. 1–7 (CD-ROM).