A physical parameter-based skidding model for the snakeboard

@article{Salman2016APP,
  title={A physical parameter-based skidding model for the snakeboard},
  author={Hadi Salman and Tony Dear and Sevag Babikian and Elie A. Shammas and Howie Choset},
  journal={2016 IEEE 55th Conference on Decision and Control (CDC)},
  year={2016},
  pages={7555-7560}
}
The physical violation of a nonholonomic system's idealized constraints in the form of skidding has recently elucidated interest in new models in order to directly incorporate the phenomenon into the system dynamics. However, such models either are too simple to capture physical attributes or have otherwise been tested only on systems with simple behaviors, such as the rolling disk. In this work, we present a novel skidding model, based on physical parameters, for a snakeboard system, which is… 
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