Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

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