The importance of unmanned vehicles has grown significantly in recent years, particularly in aerial applications where drones have become essential tools for monitoring and intervention. However, a significant gap remains in the field of Unmanned Ground Vehicles. Currently, there is a lack of autonomous ground platforms capable of high mobility in off-road and all-terrain environments that are also cost-effective and modular. Most existing high-mobility solutions are characterized by high complexity and prohibitive costs, making them unsuitable for missions where the vehicle might need to be abandoned in the field. This thesis addresses this gap by proposing the development of an extremely modular ground drone, designed to be easily reconfigurable to adapt to diverse operational needs.