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Olfati-Saber, Reza (2002) Exponential ε-tracking and ε-stabilization of second-order nonholonomic SE(2) vehicles using dynamic state feedback. In: Proceedings of the American Control Conference, 2002, Anchorage, Alaska, May 8-10, 2002. Vol.5. IEEE , Los Alamitos, CA, pp. 3961-3967. ISBN 0-7803-7298-0 http://resolver.caltech.edu/CaltechAUTHORS:OLFacc02

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