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It contains three different model of operating the vehicles: direct, speed-curvature and trajectory mode, see Vehicle Commands. In direct mode, speed and curvature are given as values between -1 and 1, refering to minimum and maximum, respectively. The speed-curvature mode handles speed and curvature values as m/s and 1/m. In trajectory mode, different poses are referenced to timesteps. In this case, the vehicles use on-board controllers to drive the given trajectory.

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