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De Luca, A., Oriolo, G., Samson, C. (1998). Feedback control of a nonholonomic car-like robot. In: Laumond, J.P. (eds) Robot Motion Planning and Control. Lecture Notes in Control and Information Sciences, vol 229. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036073
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