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This letter investigates the motion control problem of two mobile robotsunder allowable collisions. Here, the allowable collisions mean that thecollisions do not damage the mobile robots. The occurrence of the collisions isdiscussed and the effects of the collisions on the mobile robots are analyzedto develop a hybrid model of each mobile robot under allowable collisions.Based on the effects of the collisions, we show the necessity of redesigningthe motion control strategy for mobile robots. Furthermore, impulsive controltechniques are applied to redesign the motion control strategy to guarantee thetask accomplishment for each mobile robot. Finally, an example is used toillustrate the redesigned motion control strategy.

Motion Control of Two Mobile Robots under Allowable Collisions