This paper is concerned with control of nonholonomic systems in the presenc
e of parametric modeling uncertainty. The specific problem considered is th
at of parking a wheeled mobile robot of unicycle type with unknown paramete
rs, whose kinematics can be described by Brockett's nonholonomic integrator
after an appropriate state and control coordinate transformation. We emplo
y the techniques of supervisory control to design a hybrid feedback control
law that solves this problem. (C) 1999 Elsevier Science B.V. All lights re
served.