Directional control of wheeled multibody rovers

Directional control of a vehicle or a rover can be performed by subdividing the vehicle in various modules, each having a number of wheels. It is thus possible to build articulated vehicles, possibly modular, or snakes made by a number of rigid elements. The aim of the present work is the study of the directional control of such systems, moving on a flat, possibly not horizontal, surface. Some examples dealing with robots with different numbers of modules and different control strategies show how the present equation of motion can be used in actual cases