Abstract
The real device is shown in Fig. 27.1. It is a cart-like wheeled vehicle sketched on Fig. 27.2. It is capable to perform planar displacements and its configuration q (Eq. 27.1) is composed of the 2-D coordinates (x c y c ) of a characteristic point together with the orientation θ defined in a world coordinate W (Fig. 27.2).
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Meizel, D., Preciado-Ruiz, A., Halbwachs, E. (1996). Estimation of Mobile Robot Localization: Geometric Approaches. In: Milanese, M., Norton, J., Piet-Lahanier, H., Walter, É. (eds) Bounding Approaches to System Identification. Springer, Boston, MA. https://doi.org/10.1007/978-1-4757-9545-5_27
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