In this book, the problem to find suitable control actions to minimize the total traveling time of kinematic models of mobile robots is considered. This subject is a long open problem since the mixed initial-terminal conditions had posed a very hard obstacle to find a closed-form solution for this problem. This book consider a universal equivalent model of the kinematic models of wheeled mobile robots which up to the authors knowledge has never been reported in the literature. Two important aspects appears using these universal kinematic models: an infinite sequence of switching of the...