D. Bevly, J. Ryu, and J. Gerdes, Integrating INS Sensors With GPS Measurements for Continuous Estimation of Vehicle Sideslip, Roll, and Tire Cornering Stiffness, IEEE Transactions on Intelligent Transportation Systems, vol.7, issue.4, pp.483-493, 2006.
DOI : 10.1109/TITS.2006.883110

D. Piyabongkarn, R. Rajamani, J. Grogg, and J. Lew, Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control, IEEE Transactions on Control Systems Technology, vol.17, issue.1, pp.78-88, 2009.
DOI : 10.1109/TCST.2008.922503

B. Schofield, T. Hagglund, and A. Rantzer, Vehicle dynamics control and controller allocation for rollover prevention, IEEE International Conference on Control Applications, pp.149-154, 2006.

G. Besseron, C. Grand, F. B. Amar, and P. Bidaud, Decoupled control of the high mobility robot Hylos based on a dynamic stability margin, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2435-2440, 2008.
DOI : 10.1109/IROS.2008.4651092

K. Ohno, V. Chun, T. Yuzawa, E. Takeuchi, S. Tadokoro et al., Rollover avoidance using a stability margin for a tracked vehicle with sub-tracks, 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR 2009), pp.1-6, 2009.
DOI : 10.1109/SSRR.2009.5424149

S. Peters and K. Iagnemma, An analysis of rollover stability measurement for high-speed mobile robots, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.3711-3716, 2006.
DOI : 10.1109/ROBOT.2006.1642269

M. Spenko, Y. Kuroda, S. Dubowsky, and K. Iagnemma, Hazard avoidance for high-speed mobile robots in rough terrain, Journal of Field Robotics, vol.6, issue.5, pp.311-331, 2006.
DOI : 10.1002/rob.20118

M. Richier, R. Lenain, B. Thuilot, and C. Debain, On-line estimation of a stability metric including grip conditions and slope: Application to rollover prevention for All-Terrain Vehicles, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094450

URL : https://hal.archives-ouvertes.fr/hal-00665035

S. Peters, Stability measurement of high-speed vehicles, Vehicle System Dynamics, vol.9, issue.6, pp.701-720, 2009.
DOI : 10.4271/2002-01-0965

G. Genta, Motor Vehicle Dynamics: Modeling and Simulation, World Scientific, vol.43, 1997.
DOI : 10.1142/3329