Add to ORKG. In this paper, the kinematic model of an autonomous mobile robot system consisting of a chain of steerable cars and passive trailers with axle-to-axle hitching is examined and converted into a multi-input chained form using dynamic state feedback. Some of the methods which have been proposed for steering two-input chained form systems are generalized to multi-chained systems, and then applied to two example multi-steering trailer systems. Key Words. Motion planning, nonholonomic systems, dynamic feedback, mobile robots, chained forms. 1. INTRODUCTION In this paper the motion planning problem is solved for a multi-steering trailer system; that is, a car-like mobile robot pulling a combination of n passive trailers and m \Gamma 1 steerabl...
The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For...
The control of nonholonomic systems is a challenging theoretical problem that has numerous engineeri...
In this paper, a new control strategy for the active steering of a trailers of longer and heavier ve...
this paper we consider and solve the motion planning problem for a car-like mobile robot pulling a c...
This paper addresses the stabilization of postures (or configurations) for the general N-trailer sys...
In this paper, we develop the machinery of exterior differential forms, more particularly the Goursa...
Develops the machinery of exterior differential forms, more particularly the Goursat normal form for...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
International audienceThis paper deals with motion planning and control for mobile robots. The vario...
This paper presents an approach, based on the qualitative theory of nonlinear dynamical systems, for...
A truck and multiple trailer system consists of a wheeled mobile robot that tows multiple trailers. ...
This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production l...
The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle whi...
Abstract A summary of recent developments concerning robust stabilization problems for the nonholono...
The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For...
The control of nonholonomic systems is a challenging theoretical problem that has numerous engineeri...
In this paper, a new control strategy for the active steering of a trailers of longer and heavier ve...
this paper we consider and solve the motion planning problem for a car-like mobile robot pulling a c...
This paper addresses the stabilization of postures (or configurations) for the general N-trailer sys...
In this paper, we develop the machinery of exterior differential forms, more particularly the Goursa...
Develops the machinery of exterior differential forms, more particularly the Goursat normal form for...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
If some of the trailers of the so-called n-trailer system are connected via a kingpin hitch, the kin...
International audienceThis paper deals with motion planning and control for mobile robots. The vario...
This paper presents an approach, based on the qualitative theory of nonlinear dynamical systems, for...
A truck and multiple trailer system consists of a wheeled mobile robot that tows multiple trailers. ...
This paper demonstrates kinematic analysis of multiple trailers on a tractor system for production l...
The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle whi...
Abstract A summary of recent developments concerning robust stabilization problems for the nonholono...
The authors introduce a nilpotent form, called a chained form, for nonholonomic control systems. For...
The control of nonholonomic systems is a challenging theoretical problem that has numerous engineeri...
In this paper, a new control strategy for the active steering of a trailers of longer and heavier ve...