Y. H. Nevatia, J. Gancet, F. Bulens, T. Voegele, R. U. Sonsalla, C. M. Saaj, W. A. Lewinger M. Matthews, F. J. C. Cabrera, Y. Gao, E. Allouis, B. Imhof, S. Ransom, L. Richter, K. Skocki, Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability, 2013 IEEE International Conference on Robotics and Automation, Planetary Rovers Workshop, Karlsruhe, 10 May 2013 (ICRA 2013) ABSTRACT