Question: Write the code in Matlab. Exercise 13.29 Write a program that accepts a time history of wheel encoder values for the four wheels of a

Write the code in Matlab. Exercise 13.29 Write a program that

Write the code in Matlab.

Exercise 13.29 Write a program that accepts a time history of wheel encoder values for the four wheels of a four-mecanum-wheel robot and estimates the chassis configuration as a function of time using odometry. Prove that it yields

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