TAILIEUCHUNG - U.S. Government Rental Car Agreement: Defense Travel Management Office 4601 North Fairfax Drive, Suite 170 Arlington, VA 22203-1546

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, ., of a car towing trailers. As a matter of fact, the control results presented here can be directly extended. | . Government Rental Car Agreement Number 4 Managed By Defense Travel Management Office 4601 North Fairfax Drive Suite 170 Arlington VA 22203-1546 . Government Rental Car Agreement Number 4 Table of Contents 1. 2. Application 3. 4. Government Administrative Rate Supplement GARS .3 5. Global Distribution Systems GDS 6. Participating 7. Rental 8. 9. Quality Control 10. Quality Control 11. 12. Rental Car Company 13. Companies Operating at Non-United States 14. Reservation 15. Authorized 16. Employee 17. Rental Vehicle Pick-Up 18. Insurance Damage Liability and Billing for 19. Accidents or 20. 21. Acceptable Means of 22. Prohibited Charges to Government Travel Charge Card or Personal Credit Card. 11 23. Rental 24. Agreement Termination. 11 25. DTMO Site 26. Non-use Suspension or 27. Provisions . 12 Signature page. 13 Appendix A - Definitions. 14 Appendix B - Ceiling Appendix C - Participating i . Government Rental Car Agreement Number 4 Appendix D - Reservation Toll Free Number and Quality Control Appendix E - Rental Car Reporting Appendix F - Quality Control Program Appendix G - Defense Travel Management Office Review .

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