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The specic robotic system considered is a vehicle whose kinematic model approximates the mobility of a car. The conguration of this robot is repre- sented by the position and orientation of its main body in the plane, and by the angle of the steering wheels. Two velocity inputs are available for motion control. This situation covers in a realistic way many of the existing robotic vehicles. Moreover, the car-like robot is the simplest nonholonomic vehicle that displays the general characteristics and the di cult maneuverability of higher- dimensional systems, e.g., of a car towing trailers. As a matter of fact, the control results presented here can be directly extended. | U.S. Government Rental Car Agreement Number 4 Managed By Defense Travel Management Office 4601 North Fairfax Drive Suite 170 Arlington VA 22203-1546 U.S. Government Rental Car Agreement Number 4 Table of Contents 1. Purpose.1 2. Application Requirements.1 3. Rates.2 4. Government Administrative Rate Supplement GARS .3 5. Global Distribution Systems GDS Display.3 6. Participating Locations.3 7. Rental Offices.4 8. Vehicles.4 9. Quality Control Representative.4 10. Quality Control Program.4 11. Reports.4 12. Rental Car Company Meetings.5 13. Companies Operating at Non-United States Locations.5 14. Reservation Procedures.5 15. Authorized Drivers.5 16. Employee Identification.6 17. Rental Vehicle Pick-Up Procedures.6 18. Insurance Damage Liability and Billing for Damages.7 19. Accidents or Repairs.10 20. Payment.10 21. Acceptable Means of Payment.10 22. Prohibited Charges to Government Travel Charge Card or Personal Credit Card. 11 23. Rental Documents.11 24. Agreement Termination. 11 25. DTMO Site Visits.12 26. Non-use Suspension or Disqualification.12 27. Provisions . 12 Signature page. 13 Appendix A - Definitions. 14 Appendix B - Ceiling Rates.18 Appendix C - Participating Locations.24 i U.S. Government Rental Car Agreement Number 4 Appendix D - Reservation Toll Free Number and Quality Control Representative.27 Appendix E - Rental Car Reporting Instructions.28 Appendix F - Quality Control Program Requirements.33 Appendix G - Defense Travel Management Office Review Panel.34 .
