for x=-9:10
    for y=-9:10
[t,z]=ode45(@robot, 0:0.01:15, [x;y;pi/4]);
hold on
plot( z(:,1), z(:,2))
    end
end
function dz=robot(t,z)
    x=z(1);
    y=z(2);
    theta=z(3);

    alfa=atan2(y,x)-theta;
    beta=atan2(y,x);
    e=sqrt(x^2+y^2);

    v=-e*cos(alfa);
    w=alfa+cos(alfa)*sin(alfa)+beta*cos(alfa)*sin(alfa)/alfa;

    dz=[v*cos(theta) ;...
        v*sin(theta) ;...
        w];
end