?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Ferrara%2C+Antonella&rft.aulast=Ferrara&rft.aufirst=Antonella&rft.title=Sliding+mode+control+of+a+mobile+robot+for+dynamic+obstacle+avoidance+based+on+a+time-varying+harmonic+potential+field&rft.date=14+April+2007&rft.genre=proceeding