Nomenclature	Explanation
$e$	Lower case letter variable is a scalar
$\mathit{e}$	Bold lower case letter variable is a vector
$\mathit{E}$	Bold upper case letter variable is a matrix
$\mathit{e}=\left\{e_1,e_2\right\}$ $={\left(e_1,e_2\right)}^T$	Equivalent vector notations
$\mathit{E}=\left[\begin{array}{cc}{e}_{11}& e_{12}\\ e_{21}& e_{22}\end{array}\right]$	Matrix notation
${(·)}^{{\mathrm{W}}_x}$	Quantity expressed in the $x$-th wheel robot coordinate system parallel to the car coordinate system
${(·)}^{\mathrm{C}}$	Quantity expressed in the car coordinate system with origin in CoG
${(·)}_{\mathrm{C}}^{\mathrm{P}}$	Car quantity expressed in the path coordinate system with origin in CoG
${(·)}_{\mathrm{C}}$	Car quantity expressed in the inertial coordinate system – short for ${(·)}_{\mathrm{C}}^{\mathrm{I}}$
${(·)}_{\mathrm{P}}$	Quantity expressed in the path coordinate system
$\underset{\mathit{x}}{\min }\Vert \mathit{e}{\left(\mathit{x}\right)\Vert }_{\mathit{W}}$ $\mathrm{s}.\mathrm{t}.$	With $\mathit{W}$ weighted least squares minimization of function $\mathit{e}$ with respect to $\mathit{x}$“subject to” if the problem is restricted