{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:50:26Z","timestamp":1777715426404,"version":"3.51.4"},"reference-count":11,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1995,8,1]],"date-time":"1995-08-01T00:00:00Z","timestamp":807235200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1995,8]]},"abstract":"<jats:p>\n                    <jats:italic toggle=\"yes\">In this article we steer wheeled nonholonomic systems that can be represented in a so-called chained form. Sufficient condi tions for converting a multiple-input system with nonholonomic velocity constraints into a multiple-chain, single-generator chained form via state feedback and a coordinate transfor mation are presented along with sinusoidal and polynomial control algorithms to steer such systems. Our example is the three-input nonholonomic system of a fire truck, or tiller truck. In this three-axle system, the control inputs are the steering velocities of both the first and third (or tiller) axles and the forward driving velocity of the truck. Simulation results are given for parallel parking, left hand turning, right hand turn ing, and changing lanes. Comparison is made to the same vehicle without tiller steering.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/027836499501400405","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"366-381","source":"Crossref","is-referenced-by-count":81,"title":["Steering Three-Input Nonholonomic Systems: The Fire Truck Example"],"prefix":"10.1177","volume":"14","author":[{"given":"L.G.","family":"Bushnell","sequence":"first","affiliation":[{"name":"Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California at Berkeley Berkeley, California 94720"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"D.M.","family":"Tilbury","sequence":"additional","affiliation":[{"name":"Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California at Berkeley Berkeley, California 94720"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S.S.","family":"Sastry","sequence":"additional","affiliation":[{"name":"Electronics Research Laboratory Department of Electrical Engineering and Computer Sciences University of California at Berkeley Berkeley, California 94720"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1995,8]]},"reference":[{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1137\/0148002"},{"key":"e_1_2_2_3_1","first-page":"11","volume-title":"Control theory and singular Riemannian geometryNew Directions in Applied Mathematics","author":"Brockett, R.W.","year":"1981","unstructured":"Brockett, R.W. 1981. 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Robotics: Proceedings of Symposia in Applied Mathematics , 41:91-128.","journal-title":"Mathematics"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/9.277235"},{"key":"e_1_2_2_10_1","volume-title":"Proceedings of the European Control Conference","author":"Tilbury, D.","unstructured":"Tilbury, D., and Chelouah, A. 1993. Steering a three-input nonholonomic system using multi-rate controls. Proceedings of the European Control Conference , Groningen, The Netherlands, pp. 1428-1431."},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1993.325330"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)47309-5"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499501400405","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499501400405","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:15:07Z","timestamp":1777457707000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499501400405"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,8]]},"references-count":11,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1995,8]]}},"alternative-id":["10.1177\/027836499501400405"],"URL":"https:\/\/doi.org\/10.1177\/027836499501400405","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,8]]}}}