Modern Robotics, Chapter 13.3.2: Controllability of Wheeled Mobile Robots (Part 1 of 4)

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces the concept of linear controllability for a control system. The canonical nonholonomic wheeled mobile robot does not satisfy linear controllability, which motivates concepts in nonlinear controllability in the next video.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
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