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This paper presents a novel methodology for steering a cooperative transportation  system comprising two car-like mobile robots coupled together via a carrier. The system is a  three-input seven-variable drift-free nonholonomic mechanical system. The three control inputs  are the moving velocity of the first mobile robot and the steering angular velocities of the  two mobile robots. The seven variables are the positions of the first mobile robot along the  x- and y-axes, its steering angle, its orientation, the orientation of the carrier, the  steering angle of the second mobile robot, and its orientation. We first convert the system  into two-chain, single-generator chained form, based on differential geometry. We secondly  present a control method of the system with polynomial inputs derived in chained form. Validity  of the conversion and the control method is verified by computer simulations performed on  driving this cooperative transportation system into a garage.  			   This paper is the full translation from the transactions of JSME Vol.69, No.686.

A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering