P.  Souères, Balluchi, A., and Bicchi, A., ?Optimal feedback control for line tracking with a bounded-curvature vehicle?, Int. Journal of Control, vol. 74, pp. 1009-1019, 2001. 

P.  Souères, Balluchi, A., and Bicchi, A., ?Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle?, in Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, CA, USA, 2000, pp. 2473-2478.