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-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