L. D. Riek, Healthcare robotics, Communications of the ACM, vol.60, issue.11, pp.68-78, 2017.

S. M. Nguyen, C. Lohr, P. Tanguy, and Y. Chen, Plug and play your robot into your smart home: Illustration of a new framework, pp.1-7, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01584437

D. M. Helmick, S. I. Roumeliotis, M. C. Mchenry, and L. Matthies, Multi-sensor, high speed autonomous stair climbing, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2002.

J. A. Hesch, G. L. Mariottini, and S. I. Roumeliotis, Descending-stair detection, approach, and traversal with an autonomous tracked vehicle, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2010.

G. Paolo, L. Tai, and M. Liu, Towards continuous control of flippers for a multi-terrain robot using deep reinforcement learning, CoRR, 2017.

M. Pecka, K. Zimmermann, and T. Svoboda, Fast simulation of vehicles with non-deformable tracks, CoRR, 2017.

B. D. Ilhan, A. M. Johnson, and D. E. Koditschek, Autonomous stairwell ascent, Robotica, vol.38, issue.1, p.159170, 2020.

A. Mitriakov, P. Papadakis, M. Nguyen, and S. Garlatti, Journes Francophones sur la Planification, la Dcision et lApprentissage pour la conduite de systmes, 2019.

J. L. Martínez, A. Mandow, J. Morales, S. Pedraza, and A. García-cerezo, Approximating kinematics for tracked mobile robots, Int. J. Robotics Res, vol.24, pp.867-878, 2005.

P. Papadakis, Terrain traversability analysis methods for unmanned ground vehicles: A survey, Engineering Applications of Artificial Intelligence, vol.26, issue.4, pp.1373-1385, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00801220

Q. Xie, B. Su, J. Guo, H. Zhao, and W. Lan, Motion control technology study on tracked robot with swing arms, IEEE Int. Conf. on Unmanned Systems, pp.620-623, 2017.

K. Nagatani, A. Yamasaki, K. Yoshida, T. Yoshida, and E. Koyanagi, Semi-autonomous traversal on uneven terrain for a tracked vehicle using autonomous control of active flippers, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2667-2672, 2008.

S. Suzuki, S. Hasegawa, and M. Okugawa, Remote control system of disaster response robot with passive sub-crawlers considering falling down avoidance, ROBOMECH J, vol.1, p.20, 2014.

U. Saranli, M. Buehler, and D. E. Koditschek, Rhex: A simple and highly mobile hexapod robot, The Int. J. of Robotics Res, vol.20, issue.7, pp.616-631, 2001.

P. Papadakis and F. Pirri, 3D Mobility Learning and Regression of Articulated, Tracked Robotic Vehicles by Physics-based Optimization, Workshop on Virtual Reality Interaction and Physical Simulation. The Eurographics Association, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00769557

M. Pecka, V. Alansk, K. Zimmermann, and T. Svoboda, Autonomous flipper control with safety constraints, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp.2889-2894, 2016.

A. Kupcsik, M. P. Deisenroth, J. Peters, A. P. Loh, P. Vadakkepat et al., Model-based contextual policy search for data-efficient generalization of robot skills, Artificial Intelligence, vol.247, pp.415-439, 2017.

S. P. Coraluppi and S. I. Marcus, Brief risk-sensitive and minimax control of discrete-time, finite-state markov decision processes, Automatica, vol.35, issue.2, pp.301-309, 1999.

R. S. Sutton and A. G. Barto, Reinforcement Learning: An Introduction, 1998.

M. P. Deisenroth, G. Neumann, and J. Peters, A survey on policy search for robotics, Found. Trends Robot, vol.2, pp.1-142, 2013.

J. Schulman, F. Wolski, P. Dhariwal, A. Radford, and O. Klimov, Proximal policy optimization algorithms, CoRR, 2017.

A. Hill, A. Raffin, M. Ernestus, A. Gleave, A. Kanervisto et al., Stable baselines, 2018.

?. Kidzi?ski, S. P. Mohanty, C. F. Ong, Z. Huang, S. Zhou et al., Learning to run challenge solutions: Adapting reinforcement learning methods for neuromusculoskeletal environments, The NIPS '17 Competition: Building Intelligent Systems, pp.121-153, 2018.

S. Hirose, H. Tsukagoshi, and K. Yoneda, Normalized energy stability margin and its contour of walking vehicles on rough terrain, Proceedings Int. Conf. on Robotics and Automation, vol.1, pp.181-186, 2001.

E. Garcia, J. Estremera, P. Gonzalez-de, and S. , A comparative study of stability margins for walking machines, Robotica, vol.20, 2002.

S. Fujimoto, H. Van-hoof, and D. Meger, Addressing function approximation error in actor-critic methods, CoRR, 2018.

J. Kober, A. J. Bagnell, and J. Peters, Reinforcement learning in robotics: A survey, Int. J. Rob. Res, vol.32, issue.11, p.12381274, 2013.

P. Papadakis, C. Lohr, M. Lujak, A. Karami, I. Kanellos et al., System design for coordinated multi-robot assistance deployment in smart spaces, IEEE Int. Conf. on Robotic Computing, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01699838