@article {SBB01, title = {Optimal feedback control for line tracking with a bounded-curvature vehicle}, journal = {Int. Journal of Control}, volume = {74}, number = {10}, year = {2001}, month = {July}, pages = {1009-1019}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} }