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Model Predictive Lateral Control for Unmanned Ground Vehicl..:

Deng, Yuxiang ; Wang, Yijing ; Wang, Haoyu.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  54 (2024)  2 - p. 925-935 , 2024
Link: https://doi.org/10.1109/tsmc.2023.3320808