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Getz, Neil H. and Marsden, J. E. (1995) Control for an Autonomous Bicycle. In: Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1397-1402. ISBN 0-7803-1965-6. http://resolver.caltech.edu/CaltechAUTHORS:GETieeeicra95

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