@TECHREPORT\{IMM2001-0189,
    author       = "M. Bak and N. K. Poulsen and O. Ravn",
    title        = "Path following mobile robot in the presence of velocity constraints",
    year         = "2001",
    keywords     = "mobile robots, predictive control, robot control, robot applications, autonomous vehicles",
    number       = "",
    series       = "IMM-TR-2001-7",
    institution  = "Informatics and Mathematical Modelling, Technical University of Denmark, {DTU}",
    address      = "Richard Petersens Plads, Building 321, {DK-}2800 Kgs. Lyngby",
    type         = "",
    url          = "http://www2.compute.dtu.dk/pubdb/pubs/189-full.html",
    abstract     = "This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints."
}