Cars - The implications of mass car ownership in the emerging market giants

The nonholonomic nature of the car-like robot is related to the assump- tion that the robot wheels roll without slipping. This implies the presence of a nonintegrable set of rst-order dierential constraints on the conguration variables. While these nonholonomic constraints reduce the instantaneous mo- tions that the robot can perform, they still allow global controllability in the conguration space. This unique feature leads to some challenging problems in the synthesis of feedback controllers, which parallel the new research issues arising in nonholonomic motion planning. Indeed, the wheeled mobile robot application has triggered the search for innovative types of feedback controllers that can be used also for more general nonlinear...