@incollection{eprints602,
          author = {Alberto Bemporad and Mauro Di Marco and Alberto Tesi},
         address = {San Diego, December 1997},
          volume = {3},
           pages = {3063--3068},
         journal = {Proc. 36th IEEE Conf. on Decision and Control},
           title = {Wall-following controllers for sonar-based mobile robots},
       publisher = {IEEE},
       booktitle = {Decision and Control Conference},
            year = {1997},
             url = {http://eprints.imtlucca.it/602/},
        abstract = {For mobile robots equipped with incremental encoders and one sonar sensor this paper presents wall-following controllers that achieve global convergence, as well as the fulfillment of constraints on the orientation of the sonar and the velocities of the wheels. A sensor fusion approach for the estimation of the robot's coordinates is adopted by designing an extended Kalman filter that combines ultrasonic and odometric data},
        keywords = {Convergence; Infrared sensors; Merging; Mobile robots;   Robot kinematics; Robot sensing systems; Sensor fusion;   Sonar; Velocity control; Wheels}
}