[Rick TYler]

Al and Alan, wouldn't it be more correct to say that those are the minimum possible turning radii? Because steering in this case uses the slip angle of the wheels to generate turning force (I know that's a sloppy way of wording it...) won't the actual radius will always be greater than the theoretical minimum? On a low friction surface (like Lunacy) I would think it would be much larger than the minimum, with the radius increasing with robot speed.