passive wheel right wheel Figure 1. Differential drive robot schematic The kinematic model of the robot can be given from : xx= vuccccccee vy= vvcessssee 80= ww where v is the tangential velocity and w is the angular velocity . Given the tangential and angular velocity of the robot , the left and right wheel velocities can be given from : VER = vit ww 2 ut = vv- ww Where is the distance between the two wheels . 21= 0.2 The purpose of this assignment is to learn to control a differential drive robot . Given the localization information , you will need to control the robot to follow on a reference trajectory