$.(1/10)$ Describe, in words or pseudocode, an algorithm that drives the upright rolling coin from any

arbitrary initial configuration in its four$-$dimensional C$-$space q $=($x$,$ y$,\backslash$theta $,\backslash$phi $)$ to any arbitrary goal configuration, despite the two nonholonomic constraints $($x $=$ r

$\backslash$theta cos$(\backslash$phi $),$y $=$ r

$\backslash$theta sin$(\backslash$phi $)).$ Assume that the control

inputs are the rolling speed $\backslash$theta and the turning speed $\backslash$phi $$

$.$ It is not necessary to give actual code.