A differential-wheel steered robot uses deduced reckoning to keep track of its position. Each wheel has a radius of 0.25 m. The width of the robot is 1.5 m. The initial heading is between 12 and 27 and the initial position is at x=0, y=0. The rotation of the right and left wheels is measured by the following equations: 0+ (k) = b k 01(k) ak + bk Assume the values of a and b within the following limits: 0.0009