This paper presents the mobility augmentation method to provide omnidirectional mobility to nonomnidirectional wheeled bases. First, the kinematic model of a nonomnidirectional whe...
— Mobile platforms equipped with several steering wheels are known to be omnidirectional, i.e., able to independently translate and rotate on the plane. As an improvement to this...
Paolo Robuffo Giordano, Matthias Fuchs, Alin Albu-...
— This paper presents a generic kinematic modeling approach for articulated multi-monocycle mobile robots. The formulation proposed to deduce the input/output velocity equations ...
— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the compl...