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G.  Casalino, Aicardi, M., Bicchi, A., and Balestrino, A., ?Closed loop control of unicycle-like vehicles via Lyapunov techniques?, in Proc. Int. Workshop on Variable Structure and Lyapunov Techniques, Benevento, 1994. 

M.  Aicardi, Casalino, G., Balestrino, A., and Bicchi, A., ?Closed loop smooth steering of unicycle-like vehicles?, in Proc. Int. Conf. Decision and Control, 1994, pp. 2455-2460. 

G.  Casalino, Aicardi, M., Bicchi, A., and Balestrino, A., ?Closed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach?, in Proc. IFAC Int. Symposium on Robot Control, Capri, 1994.