steerable wheel -> can change
non-steerable wheel -> stays still

From 1 wheel to multiple wheels:

Two parts

• non steerable wheel
• steerable wheel

stack up the matrices to a large matrix

Ackerman: -> two steerable wheels are dependent
Two steer: -> two steerable wheels are independent

two robots with the same may not be equivalent instantaneously

move along x axis, then change its orientation, and finally move along y axis

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http://www.cs.cmu.edu/~rasc/Download/AMRobots3.pdf

https://web2.qatar.cmu.edu/~gdicaro/16311-Fall17/slides/16311-6-Maneuverability-ICR.pdf