... x y x2 0 y x 0 y 2 x y x2 130 Third order P, for 8-sided to 10-sided Voronoi cells: x 0 y2 x y x2 0 y3 x y2 0 y P = 0 0 y x 0 y 2 x y x2 0 ããã 0 y x 0 y 2 x y x2 0 y 3x y x 0 ããã ... y x2 y x3 Fourth order P, for 11-sided to 14-sided Voronoi cells: P = x 0 y2 x y x2 0 y3 x y2 0 y 0 0 y x 0 y 2 x y x2 0 ããã 0 y x 0 y 2 x y x2 0 y 3x y ããã y3 x 0 y x y x y x3 x y x2 y ... 2 x y...
... 22 Part I Sensors for Mobile Robot Positioning cot2i &cot2o' d l (1.8) where 2i = relative steering angle of the inner wheel 2o = relative steering angle of the ... 2. 2 with the cover removed) and a small control amplifier Designed for weight-sensitive model helicopters, the system weighs only 1 02 grams (3.6 oz) Motor and amplifier run off a V Figure 2. 2: ... frame of the v...