Controllability of a multibody mobile robot

Presents a proof of controllability for multibody mobile robots. An instance of such systems correspond to a car pulling and pushing trailers, like a luggage carrier in an airport. Three modeling levels are built: geometrical, differential and control models respectively. The authors shows that four different control systems correspond to a same differential model. The differential model is then used to give a same proof of controllability for four distinct multibody mobile robot systems.<>