  The control of field robots in varying and uncertain terrain conditions
presents a challenge for autonomous navigation. Online estimation of the
wheel-terrain slip characteristics is essential for generating the accurate
control predictions necessary for tracking trajectories in off-road
environments. Receding horizon estimation (RHE) provides a powerful framework
for constrained estimation, and when combined with receding horizon control
(RHC), yields an adaptive optimisation-based control method. Presently, such
methods assume slip to be constant over the estimation horizon, while our
proposed structured blocking approach relaxes this assumption, resulting in
improved state and parameter estimation. We demonstrate and compare the
performance of this method in simulation, and propose an overlapping-block
strategy to ameliorate some of the limitations encountered in applying
noise-blocking in a receding horizon estimation and control (RHEC) context.
