diff --git a/mr/ubB/mrB.pdf b/mr/ubB/mrB.pdf
index 81558bf..161890d 100644
--- a/mr/ubB/mrB.pdf
+++ b/mr/ubB/mrB.pdf
Binary files differ
diff --git a/mr/ubB/mrB.tex b/mr/ubB/mrB.tex
index 7b842e5..997130f 100644
--- a/mr/ubB/mrB.tex
+++ b/mr/ubB/mrB.tex
@@ -56,7 +56,7 @@
 \aufgTable{#7}
 \end{flushright}
 \end{minipage}
-\vspace{1cm}
+\vspace{0.5cm}
 \begin{center}
 {\Large\bf Assignment #1}
 
@@ -72,26 +72,22 @@
 %Kommando für Aufgaben
 %\Aufgabe{AufgTitel}{Punktezahl}
 \newcommand{\Aufgabe}[2]{\stepcounter{n}
-\textbf{Exercise \arabic{n}: #1} (#2 Punkte)\\}
+\textbf{Exercise \arabic{n}: #1} (#2 Punkte)}
 
 \newcommand{\Normal}[3]{\mathcal{N}\left(#1,#2,#3\right)}
 \newcommand{\Normalf}[3]{\frac{\left|#3\right|^{-\frac{1}{2}}}{\sqrt{2\pi}}e^{-\frac{\left(#1 - #2 \right)^2\cdot \left(#3\right)^{-1}}{2}}}
 
-
-
-
 \begin{document}
     %\header{BlattNr}{Tutor}{Abgabedatum}{Vorlesungsname}{Namen}{Semester}{Anzahl Aufgaben}
     \header{11}{}{2015-07-14}{Mobile Robots}{
         \textit{Jan-Peter Hohloch}\\ \textit{Maximus Mutschler}
     }{SS 15}{3}
-    \vspace{1cm}
-
+    \vspace{0.2cm}
     \Aufgabe{Graph Search}{8}
         \begin{enumerate}[(a)]
             \item $(s)\rightarrow s:(b,e)\rightarrow b:(e,a,c)\rightarrow e:(a,c,f,g)\rightarrow a:(c,f,g)\\\rightarrow c:(f,g,d)\rightarrow f:(g,d,h,z)\rightarrow z$ found $path=(s,e,f,z)$
             \item $((s,0))\rightarrow s: ((b,1),(e,1))\rightarrow b: ((e,1),(a,2),(c,7))\rightarrow e: ((a,2),(g,2),(c,7),(f,7)) \\\rightarrow a:((g,2),(c,5),(f,7))\rightarrow g: ((h,3),(c,5),(f,7),(z,8))\\\rightarrow h:((z,4),(c,5),(f,7))\rightarrow (z,4), path=(s,e,g,h,z)$
-            \item $(s,0+2)\rightarrow s:((e,1+1),(b,1+3))\rightarrow e:((g,2+0),(b,1+3),(f,7+1))\\\rightarrow g:((b,1+3),(h,3+1),(z,8+0))\rightarrow b:((h,3+1),(a,2+4),(z,8+0),(c,7+3))\\\rightarrow h:((z,4+0),(a,2+4),(c,7+3))\rightarrow z: path=(s,e,g,h,z)$
+            \item $(s,0+2)\rightarrow s:((e,1+1),(b,1+3))\rightarrow e:((g,2+0),(b,1+3),(f,7+1))\\\rightarrow g:((b,1+3),(h,3+1),(z,8+0))\rightarrow b:((h,3+1),(a,2+4),(z,8+0),(c,7+3))\\\rightarrow h:((z,4+0),(a,2+4),(c,7+3))\rightarrow z: path=(s,e,g,h,z)$\\
         \end{enumerate}
     \Aufgabe{Nonholonomic Constraints}{4}
         \begin{enumerate}[(a)]
@@ -99,12 +95,31 @@
                 x\\y\\\theta
             \end{pmatrix}, f(t,\vec{q},\dot{\vec{q}})=\begin{pmatrix}
                 0&1&0
-            \end{pmatrix}q(t)-\begin{pmatrix}
+            \end{pmatrix}\begin{pmatrix}
+                \cos\theta&-\sin\theta&0\\
+                \sin\theta&\cos\theta&0\\
+                0&0&1
+            \end{pmatrix}\left(q(t)-q(t+1)\right)\\=\begin{pmatrix}
                 0&1&0
-            \end{pmatrix}q(t+1)=\begin{pmatrix}
-                0&1&0
+            \end{pmatrix}\begin{pmatrix}
+                \cos\theta&-\sin\theta&0\\
+                \sin\theta&\cos\theta&0\\
+                0&0&1
+            \end{pmatrix}\dot\vec q\\
+            =\begin{pmatrix}
+                \sin\theta & \cos\theta & 0
             \end{pmatrix}\dot\vec q=0$
-            \item nonholonomic, because the derivative of q is used
+            \item nonholonomic, because the derivative of q is used\\
+        \end{enumerate}
+    \Aufgabe{Reeds-Shepp-Curves}{8}
+        \begin{enumerate}[(a)]
+            \item As the tangent is always perpendicular to the radius there are right triangles. So for $r_1=r_2=r$ we can calculate:\\
+            $d=2\cdot \sqrt{dist(\mathbf{s'},\mathbf{g'})^2-r^2}$\\
+            For $r_1\not=r_2$ we can use:\\
+            $d=\sqrt{dist(\mathbf{s'},\mathbf{g'})^2-(r_1+r_2)^2}$\\
+            There geometrical explanation is to translate $r_2$ and append it to $r_1$. Then there is only one right triangle and we again can calculate the pythagorean.
+            \item $\delta(\alpha_r,\mathbf{s'},\mathbf{g'},\alpha_l)=r\alpha_r+d+r\alpha_l=r\alpha_r+2\cdot\sqrt{dist(\mathbf{s'},\mathbf{g'})^2-r^2}+r\alpha_l$
+            \item $\delta(\alpha_r,\mathbf{s'},\mathbf{g'},\alpha_l)=r_1\alpha_r+d+r_2\alpha_l=r_1\alpha_r+\sqrt{dist(\mathbf{s'},\mathbf{g'})^2-(r_1+r_2)^2}+r_2\alpha_l$
         \end{enumerate}
 \end{document}