ANSWER ANYTHING ASAP PLEASEEEE!!!!!!!!!!!!!!!!!!!!!! WILL GIVE THUMBS UP!!!!!!!!!!!!!

Given the differential drive robot design seen below that start at the configuration q₀ = (1, 1, 0.1)

a) Generate a control law that drives the robot to the goal q_f= (3, 1, 0.1)

b) Modify the control law to ensure that the final heading is at = 0.3

f R XR , XI f R XR , XI