A mobile robot with trailers is small-time controllable
J.P. Laumond, "Controllability of a multibody mobile robot" in IEEE Trans. on
Robotics and Automation, 9 (6), Dec. 1993.
J.P. Laumond and J.J. Risler, "Nonholonomic systems : controllability and
complexity" in Theoretical Computer Sciences, 157, pp. 101--114, 1996.
Planning collision-free feasible paths can be done by
approximating holonomic paths with a sequence of optimal feasible
J.P. Laumond, S. Sekhavat and M. Vaisset, "Collision-free motion
planning for a mobile robot with a trailer" in IFAC Symp. on Robot Control,
Capri, Sept. 1994.
J.P. Laumond, "Nonholonomic motion planning via optimal control" in
Algorithmic Foundations of Robotics, K. Golberg, D. Halperin, J.C. Latombe and
R. Wilson Eds, A.K. Peters, Ltd. 1995.
Planning collision-free feasible paths can be also done by
combining techniques (approximation sheme, probabilistic approache,
S. Sekhavat, P. Svestka, J.P. Laumond
and M. Overmars, "Multi-level path planning for nonholonomic robots using
2nd Workshop on Algorithmic Foundations of Robotics,
WAFR'96, Toulouse, July 1996 (to appear in Int. Journal of Robotics Research)