A differentially$-$steered robot has the following parameters:

$V=-2\frac{m}{s}$;$=\frac{}{3}ra\frac{d}{s}$

Radius $of$ wheels $=0\mathrm{.}4m$

Wheel spacing $(2L)=0\mathrm{.}8m$

Pose $=\left[\begin{array}{c}4m\end{array}\right]$

$6m$

$30$

a$)$ Calculate the two drive wheel velocities that will produce the required robot forward velocity and turn rate.

b$)$ What will the radius of the resultant circular path be$?$

c$)$ Using the forward velocity of the robot, v $,$ estimate the time it will take for the robot to move along this circle so that its pose angle changes by $60?$

d$)$ Re$-$estimate the above, this time using the turn rate, $.$

e$)$ What is the location of the Instantaneous Center of Rotation $($ICR$)$ with respect to the global axis?