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Great Paper
Chris,
Great paper. Very detailed. I have one comment, though. The one thing I thought was missing was the use of different materials on the front wheels and back wheels of the robot. If a rookie were to look at your paper, they would get the impression that there would only be two ways to help turning: (1) width must be larger than wheelbase or (2) Wheels with different friction characteristics in the different directions. There is, in fact, a third (and I know you already know this) and that is to have the front wheels and back wheels have materials with different coefficients of friction. I know the equations get a bit longer, but it may be worth it to point it out.
Great job on the paper!
Paul
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