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...
— 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...
— We explore the control of a nonholonomic robot subject to additional constraints on the state variables. In our problem, the user specifies the path of a subset of the state v...
Siddhartha S. Srinivasa, Michael Erdmann, Matthew ...
In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing...
Problems such as the design of distributed controllers are characterized by modularity and symmetry. However, the symmetries useful for solving them are often difficult to determ...