Use the unwrapped angle on the real line. Integrating its Langevin equation gives , where is a centered Gaussian random variable with variance . ThereforeA wrapped angular difference is bounded and would not satisfy this formula.
For the orientation correlation, . The characteristic function gives , soThe translational noise is independent of the orientation, hence the cross terms vanish. Summing its two component correlations gives . Consequently, for ,The extension to negative time uses . Because the position contains Brownian motion, the instantaneous noise velocity and its correlation are distributions; the delta contribution is not a finite ordinary velocity at .
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