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This present paper aims to give a general and unifying presentation on modeling of WMRs in the presence of wheel skidding and slipping from the perspective of control design. We present kinematic models that explicitly relate the perturbations to the vehicle skidding and slipping. Four configurations of mobile robots are considered and the perturbations due to skidding and slipping are categorically classified as input additive, input multiplicative, and/or matched/unmatched perturbations. These classifications and formulations lay a base for the deployments of various control design techniques to overcome the addressed perturbations.

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