@article{majd2019stable,
  title={A stable analytical solution method for car-like robot trajectory tracking and optimization},
  author={Majd, Keyvan and Razeghi-Jahromi, Mohammad and Homaifar, Abdollah},
  journal={IEEE/CAA Journal of Automatica Sinica},
  volume={7},
  number={1},
  pages={39--47},
  year={2019},
  publisher={IEEE}
}