Question: Exercise 13.28 Write a program that accepts a time history of wheel encoder values for the three wheels of a three-omniwheel robot and estimates the

Exercise 13.28 Write a program that accepts a time history of

Exercise 13.28 Write a program that accepts a time history of wheel encoder values for the three wheels of a three-omniwheel robot and estimates the chassis configuration as a function of time using odometry. Prove that it yields correct results for a chassis motion that involves rotations and translations

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