Geodesic
Application of laconic forms of the equations of motion in the dynamics of nonholonomic mobile robots
Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 771-783.

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The paper considers a new laconic method for deriving the dynamical equations of nonholonomic systems proposed by Ya. V. Tatarinov in 2003 for description of the dynamics of wheel systems of three different types (piano wheel, carriages with roller-bearing wheels, with differential drive).
Keywords: systems with differential constraints; laconic form of Ya. V. Tatarinov's equations of motion; mobile vehicles. 
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A. A. Zobova. Application of laconic forms of the equations of motion in the dynamics of nonholonomic mobile robots. Russian journal of nonlinear dynamics, Tome 7 (2011) no. 4, pp. 771-783. http://geodesic.mathdoc.fr/item/ND_2011_7_4_a2/

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