O.J. Sordalen

EECS Department, University of California, Berkeley

Technical Report No. UCB/ERL M93/39

, 1993

http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/ERL-93-39.pdf

An upper bound of the global degree of nonholonomy is found for a car with n trailers. This bound grows exponentially as a function of n similarly to the Fibonacci numbers. The bound is hence lower than previous upper bounds. Controllability is also shown for the kinematic model considered.

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BibTeX citation:

@techreport{Sordalen:M93/39,
    Author= {Sordalen, O.J.},
    Title= {On the Global Degree of Nonholonomy of a Car with n Trailers},
    Year= {1993},
    Month= {May},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2349.html},
    Number= {UCB/ERL M93/39},
    Abstract= {An upper bound of the global degree of nonholonomy is found for a car with n trailers. This bound grows exponentially as a function of n similarly to the Fibonacci numbers. The bound is hence lower than previous upper bounds. Controllability is also shown for the kinematic model considered.},
}

EndNote citation:

%0 Report
%A Sordalen, O.J. 
%T On the Global Degree of Nonholonomy of a Car with n Trailers
%I EECS Department, University of California, Berkeley
%D 1993
%@ UCB/ERL M93/39
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1993/2349.html
%F Sordalen:M93/39