?url_ver=Z39.88-2004&rft_id=doi%3A10.1109%2FTCST.2015.2488589&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Worthmann%2C+Karl&rft.aulast=Worthmann&rft.aufirst=Karl&rft.date=2016&rft.atitle=Model+Predictive+Control+of+Nonholonomic+Mobile+Robots+Without+Stabilizing+Constraints+and+Costs&rft.volume=24&rft.pages=1394-1406&rft.title=IEEE+Transactions+on+Control+Systems+Technology&rft.issn=1063-6536&rft.issue=4&rft.genre=article