T. D. Gillespie, Fundamentals of vehicle dynamics, 1992.
DOI : 10.4271/R-114

O. Hach, R. Lenain, B. Thuilot, and P. Martinet, Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6095007

R. Lenain, B. Thuilot, C. Cariou, and P. Martinet, High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks, Autonomous Robots, vol.21, issue.1, pp.79-97, 2006.
DOI : 10.1007/s10514-006-7806-4

R. Lenain, B. Thuilot, O. Hach, and P. Martinet, High-speed mobile robot control in off-road conditions: A multi-model based adaptive approach, 2011 IEEE International Conference on Robotics and Automation, p.61436149, 2011.
DOI : 10.1109/ICRA.2011.5979664
URL : https://hal.archives-ouvertes.fr/hal-00615483

A. Micaelli and C. Samson, Trajectory tracking for unicycle-type and twosteering-wheels mobile robots, INRIA technical report, 1993.

H. B. Pacejka, Tire and vehicle dynamics, Society of Automotive Engineers, 2002.

J. Richalet, Industrial applications of model based predictive control, Automatica, vol.29, issue.5, pp.1251-1574, 1993.
DOI : 10.1016/0005-1098(93)90049-Y

C. Samson, Control of chained systems application to path following and time-varying point-stabilization of mobile robots, IEEE Transactions on Automatic Control, vol.40, issue.1, pp.64-77, 1995.
DOI : 10.1109/9.362899

H. Schafer, M. Proetzsch, and K. Berns, Action/perception-oriented robot software design: An application in off-road terrain, 2008 10th International Conference on Control, Automation, Robotics and Vision, pp.223-228, 2008.
DOI : 10.1109/ICARCV.2008.4795522

R. Siegwart and I. R. Nourbakhsh, Introduction to autonomous mobile robots, 2004.