# On the Global Degree of Nonholonomy of a Car with n Trailers

### O.J. Sordalen

###
EECS Department

University of California, Berkeley

Technical Report No. UCB/ERL M93/39

1993

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.

BibTeX citation:

@techreport{Sordalen:M93/39, Author = {Sordalen, O.J.}, Title = {On the Global Degree of Nonholonomy of a Car with n Trailers}, Institution = {EECS Department, University of California, Berkeley}, Year = {1993}, URL = {http://www.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://www.eecs.berkeley.edu/Pubs/TechRpts/1993/2349.html %F Sordalen:M93/39