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Terramechanics is the field studying the properties of soil, with distinct focus on the modellingof soil interaction with tracks and tires. The field has a myriad of simulation models, all aimingto capture realistic soil behaviour. The discrete element method (DEM) is one such model.While being deemed generally accurate, the method is also computationally demanding. Othersemi-empirical tire-terrain models propose methods that are generally less computationallydemanding, however these models are often developed for certain idealistic scenarios. The aimof this thesis is to study these models under non idealistic scenarios, comparing them withresults from DEM simulations from equivalent circumstance. The focus scenario chosen wastire traversal in sloping terrain. DEM simulations were created to replicate a tire traversingsloped terrain, with slopes varying between 10◦ and 30◦. The tractive effort, sinkage and slipratio were collected and compared to the product of the other semi-empirical models, using thesame input parameters. The result show that the semi-empirical models tend to overestimatetractive effort when traversing sloped terrain. However further study into different modelextensions could prove the semi-empirical models capable of handling tire-traversal on slopedterrain.