?url_ver=Z39.88-2004&rft_id=10.1115%2F1.482468+&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.au=Bemporad%2C+Alberto&rft.volume=122&rft.issue=1&rft.pages=226-230&rft.atitle=Sonar-based+wall-following+control+of+mobile+robots&rft.title=Journal+of+dynamic+systems+measurement+and+control&rft.date=March+2000&rft.issn=0022-0434&rft.genre=article