The subject of this chapter is the control problem for nonholonomic wheeled mobile robots
moving on the plane, and in particular the use of] eedback techniques for achieving a given …

Mobile robots did not wait to know that they were nonholonomic to plan and execute their
motions autonomously. It is interesting to notice that the first navigation systems have been …

We introduce flat systems, which are equivalent to linear ones via a special type of feedback
called endogenous. Their physical properties are subsumed by a linearizing output and they …

Field theory is a more or less coherent approach in the social sciences whose essence is
the explanation of regularities in individual action by recourse to position vis-à-vis others …

The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It
is shown that, for a large class of possible configurations, they can be classified into five …

Provides a summary of recent developments in control of nonholonomic systems. The
published literature has grown enormously during the last six years, and it is now possible to …

Chain form systems have recently been introduced to model the kinematics of a class of
nonholonomic mechanical systems. The first part of the study is centered on control design …

This paper describes the application of di erential atness techniques from nonlinear control
theory to mechanical (Lagrangian) systems. Systems which are di erentially at have several …

This paper considers the problem of real‐time trajectory generation and tracking for
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …

This paper presents the first motion planning methodology applicable to articulated,
nonpoint nonholonomic robots with guaranteed collision avoidance and convergence …