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The same apparatus generates self-propulsion by adjusting the magnet positions via powered solenoids, manipulating the position of the center of mass, and achieving motion from rest or biased steering. Each ball is outfitted with low-mass, low-power sensors and electronics for peer-to-peer and satellite data transmission. Teams of MoBalls will be deployed cooperatively with other in situ assets, forming a distributed sensing network over a large spatial domain. The innovative merging of energy-harvesting and mobility into a single sensor platform increases network flexibility, productivity, and lifespan. 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Perhaps more importantly, this dynamic framework provides unique insights into the controllability properties of spherical vehicles on smooth terrain. Small time local controllability (STLC) results were developed from these equations for any spherical vehicle on smooth terrain. The STLC results are particularly easy to query, as the user must only provide the system’s kinetic and potential energy. This research also introduces generic feedback controllers, which can be used to guide spherical vehicles along arbitrary paths on the terrain. 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