Illustrating the power, simplicity, and generality of the concept of flatness, this reference
explains how to identify, utilize, and apply flatness in system planning and design. The book …

Bi-steerable cars are four wheel drive robots with a double-axle steering capability. We
tackle the stabilization problem for this kind of nonholonomic system by exploiting its flatness …

In this paper, an algorithm for the integration of output tracking and trajectory generation via
analytic left inversion is provided. The first step is to identify an output path using a known …

This Paper addresses the problem of nonholonomic motion planning for a bi-steerable car.
The kinematic specificity of this system is the turning of its rear wheels as a function of the …

We consider the problem of planning point-to-point motion for general robotic systems
subject to non-integrable differential constraints. The constraints may be of first order (on …

Controller design for autonomous 4-wheeled ground vehicles is performed with differential
flatness theory. Using a 3-DOF nonlinear model of the vehicle's dynamics and through the …

A case study is presented of a collision avoidance system that directly integrates the
kinematics of a bi-steerable car with a suitable path planning algorithm. The first step is to …

Corresponding author: C. Pradalier abstract–Localization with landmarks is a recurrent
problem in robotics. In order to perceive the environment, robots are often equipped with …