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[MLS94] Nonholonomic Behavior in Robotic System
Introduction No slippage constraints: \begin{align}\dot{x} - \rho \dot{\phi}\cos \theta &= 0 \\ \dot{y} - \rho \dot{\phi}\sin \theta &= 0 \end{align}Let system configuration $\qb = (x, y, \phi, \thet