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. Author manuscript; available in PMC: 2010 Jul 20.
Published in final edited form as: Rep U S. 2007 Oct 29;2007:3302–3308. doi: 10.1109/IROS.2007.4399466

Fig. 1.

Fig. 1

Cart following a circle: Red dotted circle is the desired circle to be followed by the cart. Initially the cart is away from the desired circle but with the application of the controller, it follows the circle.