Imagine a robot going around a circular track at constant speed such that it completes one lap every minute. The robot has a gyro mounted on it. The gyro rate will be 1 rpm, the same as if the robot were spinning in-place at 1 rpm.
I'll have to check the math, but I believe that with 3 followers mounted
as shown, you can extract the vehicle's rotation rate (the same rate measure by a gyro) for any vehicle motion.