Ravi Balasubramanian and Tucker Balch have published a new CMU Technical Report entitled Energy-Optimal Trajectories for Overactuated Robots. The new report describes a method for computing energy optimal trajectories that allow an overactuated wheeled robot to climb over discontinuous terrain with minimal effort. The robot described in the report is the CMU Goes Over All Terrain (GOAT) robot which is part of the DARPA UGCV program.