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The controller of the vehicle is designed in such a way that the blue point of vehicle has to follow the red point moving along the dotted straight line.
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To start animation, click on one of five initial positions of the vehicle.
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To stop animation, and return to initial picture, click return button.
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To see the kinematic scheme and equations of the vehicle, click
here.
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The control law is presented in
arXive:math/0507567.
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