How to Park a Car Blindfolded

In this paper, we present an algorithm that achieves global asymptotic stability for a broad class of driftless nonholonomic systems using limited data rate. Moreover, we prove in a constructive way that the minimum data-rate for this class of systems is zero, hence providing a data-rate theorem, which was an open problem in the literature Li and Baillieul (2004). Finally, we present the Dubin’s car as an example of system in such a class.