Navigation and Obstacle Avoidance via Backstepping for Mechanical Systems with Drift in the Closed Loop. Montenbruck, J. M.; Bürger, M.; and Allgöwer, F. In Proc.\ 2015 American Control Conference, pages 625-630, Chicago, IL, USA, 2015.
bibtex   
@INPROCEEDINGS{ist:montenbruck15e,
  author = {Montenbruck, J. M. and B{\"u}rger, M. and Allg{\"o}wer, F.},
  title = {Navigation and Obstacle Avoidance via Backstepping for Mechanical
	Systems with Drift in the Closed Loop},
  booktitle = {Proc.\ 2015 American Control Conference},
  year = {2015},
  pages = {625-630},
  address = {Chicago, IL, USA},
  pubtype = {proceeding}
}
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