A redesigned DCAL controller without velocity measurements: theory and demonstration. Burg, T., Dawson, D. M., & Vedagarbha, P. Robotica, 15(4):337–346, 1997.
bibtex   
@Article{SCC.Burg.Dawson.ea1997,
  author    = {Burg, T. and Dawson, D. M. and Vedagarbha, P.},
  title     = {A redesigned {DCAL} controller without velocity measurements: theory and demonstration},
  journal   = {Robotica},
  year      = {1997},
  volume    = {15},
  number    = {4},
  pages     = {337--346},
  owner     = {keith},
  timestamp = {2009.01.13},
}

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