— Nonholonomic mobile robots are characterized by no-slip constraints. However, in many practical situations, slips are inevitable. In this work, we develop a theoretical and sys...
Abstract— The roller racer, an undulatory locomotion system, is a toy which can be propelled forward by sitting on it and only oscillating the steering handle. A nonholonomic dyn...
— In this paper, the path following problem of an omnidirectional mobile robot has been studied. Given the error dynamic model derived from the robot state vector and the path st...
— In this paper, navigation and control of autonomous mobile unicycle robots in a complex and partially known obstacleridden environment is considered. The unicycle dynamic model...
We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic...