This project MOBITER (“MOBIlité autonome en milieu tout TERrain”) aims to fully meet the ambitions of the MOBILEX challenge. For this, 2 SMEs (Sherpa Engineering / Logiroad) join their academic partners: TSCF INRAe, and Institut Pascal, confirming recent collaborations (Thesis, common laboratory, geographical proximity). This proximity allows to have already common links in the methodology of development (recourse to numerical models), tools (use of the middleware ROS), techniques of representation of the environment (Lambda-field) ... which will be necessary for the framework of this very applicative project, requiring a demonstration in the first year. The contributions are as follows: - Sherpa Engineering, coordinator of the project, will realize (on the basis of an existing), the hardware realization of a perception platform, totally adapted to the requirements, and to the specificity of the challenge. He will carry out the engineering tasks of the project, and will be in charge of a part of the algorithm. - INRAE will bring its experience in agricultural robotics, and will be responsible for the experimentation thanks to the use of its site of Montoldre (Allier). - The Pascal Institute will provide advice on scientific development (data fusion, traversability, risk management, planning), which will be implemented by an internal resource. - Logiroad will integrate its software module to classify the elements of the scene. The project will be carried out to increase the academics part in the software. Initially designed to manage functions at the state of the art level, via an adaptation of the existing modules, the vehicle will evolve during the 2 following challenges to better perceive the state of the terrain, to manage the passage of complex obstacles, to have redundancies to manage degraded environmental conditions or hardware faults. Thus, the basic technical definition Stereo Camera + Lidar 360° will be completed in the long term by a FMCW 360° radar. This project will allow the 2 SMEs to investigate in the Defense or Space sectors, but are also aimed the sector where the consortium is present: - The agricultural sector, requiring knowledge of a changing natural environment, with impact on the control. - The automotive sector, to allow the passage of autonomous vehicles in unmapped or poorly defined areas (especially rural areas).