Highly passable propulsive device for UGVs on rugged terrain Valery Gradetsky, Ivan Ermolov, Maxim Knyazkov, Boris Lapin, Eugeny Semenov, Sergey Sobolnikov and Artem Sukhanov MATEC Web Conf., 161 (2018) 03013 Published online: 18 April 2018 DOI: 10.1051/matecconf/201816103013