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# Comfort objective

Modified 2018-10-30 by julian121266

## Lane following (LF, LFV)

Modified 2018-11-01 by julian121266

In the single robot setting, we encourage “comfortable” driving solutions. We therefore penalize large angular deviations from the forward lane direction to achieve smoother driving. This is quantified through changes in Duckiebot angular orientation $\theta_{bot}(t)$ with respect to the lane driving direction.

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