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In the skid steer vehicle the velocity constraints are quite different from other vehicle in terms of its wheels having to skid laterally to follow the curved path. The wheels of the skid steer vehicle are non-steerable; the vehicle is turned as the differential torque is applied to the wheels on the opposite sides. Motion control for skid steer vehicle is particularly challenging due to the non-linearities that arise from tire slip and braking. Moreover the instantaneous center of rotation may move out of the skid steer vehicle base causing loss of motion stability. Therefore it is difficult...