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Modeling Discrete Steering

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Published on Oct 23, 2013

This video is part of a tutorial series for the Theorem Prover KeYmaera.
http://symbolaris.com/info/KeYmaera.html
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Video Credit: Stefan Mitsch

When a robot drives through 2D space without a predefined track, we can model its physical dynamics using discrete changes in its linear acceleration and its steering.

You can think of discrete changes in steering as the robot switching from one circular track to another, but the new track must be tangent to the old one at the position of the robot so that the robot can maintain continuous evolution of its position, direction and velocity.

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