The goal of this research is to achieve close to real-time dynamics performance for allowing auto-pilot in-the-loop testing of unmanned ground vehicles (UGV) for urban as well as off-road scenarios. The overall vehicle dynamics performance is governed by the multibody dynamics model for the vehicle, the wheel/terrain interaction dynamics and the onboard control system. The topic of this paper is the development of computationally efficient and accurate dynamics model for ground vehicles with complex suspension dynamics. A challenge is that typical vehicle suspensions involve closed-chain loops which require expensive DAE integration techniques. In this paper, we illustrate the use the alternative constraint embedding technique to reduce the cost and improve the accuracy of the dynamics model for the vehicle.
 Haug E. J.: Elements of Computer-Aided Kinematics and Dynamics of Mechanical Systems: Basic Methods. Springer-Verlag, 1984.
 Abhinandan Jain: Multibody graph transformations and analysis Part II: Closed-chain constraint embedding. Nonlinear Dynamics, 67(3):2153-2170, August 2012.
 Abhinandan Jain: Robot and Multibody Dynamics: Analysis and Algorithms. Springer, 2011.
 Reinhold von Schwerin: Multibody system simulation: numerical methods, algorithms, and software. Springer, 1999.
 Paramsothy Jayakumar, Abhinandan Jain, James Poplawski, Marco B Quadrelli, and Jonathan M Cameron: Advanced Mobility Testbed for Dynamic Semi-Autonomous Unmanned Ground Vehicles. In NATO Meeting AVT-241/RSM-022: Technological and Operational Problems Connected with UGV Application for Future Military Operations, Rzeszow, Poland, 2015.
 Jonathan M Cameron, Steven Myint, Calvin Kuo, Abhinandan Jain, Havard F Grip, Paramsothy Jayakumar, and Jim Overholt: Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics. In 2013 NDIA Ground Vehicle Systems Engineering and Technology Symposium, Troy, Michigan, 2013.
 Abhinandan Jain, Calvin Kuo, Paramsothy Jayakumar, and Jonathan M Cameron: A Constraint Embedding Approach for Complex Vehicle Suspension Dynamics. In ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain, 2015.
 Guillermo Rodriguez, Abhinandan Jain, and K Kreutz-Delgado: A spatial operator algebra for manipulator modeling and control. INTRR, 10(4):371, 1991.
 Abhinandan Jain, Cory Crean, Calvin Kuo, and Marco B Quadrelli: Efficient Constraint Modeling for Closed-Chain Dynamics. In The 2nd Joint International Conference on Multibody System Dynamics, Stuttgart, Germany, 2012.
 Randy Sleight: Modeling and Control of an Autonomous HMMWV. PhD thesis, University of Delaware, 2004.
 Justin Madsen: A Stochastic Framework for Ground Vehicle Simulation. PhD thesis, University of Wisconsin, Madison, 2009.