diff --git a/electives/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/amr/autonomous-mobile-robots-cheatsheet.pdf
index 3a11aa5..1bdc2a1 100644
Binary files a/electives/amr/autonomous-mobile-robots-cheatsheet.pdf and b/electives/amr/autonomous-mobile-robots-cheatsheet.pdf differ
diff --git a/electives/amr/parts/01_kinematics/06_wheeled-robot.tex b/electives/amr/parts/01_kinematics/06_wheeled-robot.tex
index 2eccae0..32ead15 100644
--- a/electives/amr/parts/01_kinematics/06_wheeled-robot.tex
+++ b/electives/amr/parts/01_kinematics/06_wheeled-robot.tex
@@ -56,4 +56,4 @@ $\vec{b}_s = {\scriptsize \begin{bmatrix}
 
 \textit{Turning}: $\Omega = (\omega_l r_l) / R_l\! =\! (\omega_r r_r) / R_r$, $R\! =\! v / \Omega$, $\Delta \theta\! =\! \Omega \Delta t$
 
-\textbf{Discretized}: $\vec{x}_k = \vec{x}_{k - 1} b_i$ with $i \in \{s, t\}$, respectively
+\textbf{Discretized}: $\vec{x}_k = \vec{x}_{k - 1} + b_i$ with $i \in \{s, t\}$, respectively