?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=Mario&rft.aulast=Zanon&rft.au=Zanon%2C+Mario&rft.isbn=978-3-033-03962-9&rft.date=July+2013&rft.title=Nonlinear+Moving+Horizon+Estimation+for+combined+state+and+friction+coefficient+estimation+in+autonomous+driving&rft.btitle=European+Control+Conference+(ECC)%2C+2013&rft.genre=proceeding