Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
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Flat outputs for the unicycle<br />
� a unicycle is differentially flat with respect to the position<br />
coordinates of its “center” (flat outputs)<br />
� for instance, in geometric terms, given <strong>and</strong> for<br />
path executed in forward or backward motion<br />
<strong>Robotics</strong> 1 16
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