@incollection{eprints596,
           title = {Local incremental planning for a car-like robot navigating among obstacles},
            year = {1996},
          volume = {2},
         address = {Minneapolis, Minnesota - April 1996},
           pages = {1205--1211},
       booktitle = {International conference on robotics and automation },
         journal = {Proc. IEEE Conf. Robotics and Automation},
       publisher = {IEEE},
          author = {Alberto Bemporad and Alessandro De Luca and Giuseppe Oriolo},
        keywords = {feedback; mobile robots; navigation; nonlinear systems; path planning; position control; robot kinematics},
        abstract = {We present a local approach for planning the motion of a car-like robot navigating among obstacles, suitable for sensor-based implementation. The nonholonomic nature of the robot kinematics is explicitly taken into account. The strategy is to modify the output of a generic local holonomic planner, so as to provide commands that realize the desired motion in a least-squares sense. A feedback action tends to align the vehicle with the local force field. In order to avoid the motion stops away from the desired goal, various force fields are considered and compared by simulation},
             url = {http://eprints.imtlucca.it/596/}
}