Backward motion control of an articulated robotic vehicle with off-axle passive trailers, as presented in the paper . Two heterogeneous off-axle trailers are hitched to the tracked mobile robot Auriga-? and a predefined path is followed by the last trailer.
 Virtual Steering Limitations for Reversing an Articulated Vehicle with Off-Axle Passive Trailers. Jesús Morales, Jorge L. Martínez, Anthony Mandow, and Itza J. Medina. 35th Annual Conference of the IEEE Industrial Electronics Society (IECON 2009). Porto, Portugal
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