Geodesic
Structural properties and classification on kinematic and dynamic models of wheeled mobile robots
Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 733-769.

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The structure of the kinematic and dynamic models of wheeled mobile robots is analyzed. It is shown that, for a large class of possible configurations, they can be classified into five types, characterized by generic structures of the model equations. For each type of model the following questions are addressed: (ir)reducibility and (non)holonomity, mobility and controllability, configuration of the motorization, and feedback equivalence.
Keywords: wheeled mobile robots, kinematic and dynamic models, nonholonomity, control. 
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G. Campion; G. Bastin; B. D'Andrea-Novel. Structural properties and classification on kinematic and dynamic models of wheeled mobile robots. Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 733-769. http://geodesic.mathdoc.fr/item/ND_2011_7_4_a1/

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