Nonholonomic models of automobiles are developed by utilizing tools of analytical
mechanics, in particular the Appellian approach that allows one to describe the vehicle
dynamics with minimum number of time-dependent state variables. The models are categorized
based on how they represent the wheel-ground contact, whether they incorporate the
longitudinal dynamics, and whether they consider the steering dynamics. It is demonstrated
that the developed models can be used to design low-complexity controllers that enable
automated vehicles to execute a large variety of maneuvers with high precision.
