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Self-sustaining driving control of two-wheeled vehicle by u..:

Shigeto OUCHI ; Nariyuki KODANI ; Hiroshi HIRATA..
https://www.jstage.jst.go.jp/article/transjsme/81/832/81_15-00207/_pdf/-char/en.  , 2015
Link: https://doi.org/10.1299/transjsme.15-00207