?url_ver=Z39.88-2004&rft_id=10.1109%2FROBOT.1996.506871&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Bemporad%2C+Alberto&rft.aulast=Bemporad&rft.aufirst=Alberto&rft.date=1996&rft.title=Local+incremental+planning+for+a+car-like+robot+navigating+among+obstacles&rft.btitle=International+conference+on+robotics+and+automation+&rft.isbn=0-7803-2988-0+&rft.genre=bookitem