M. Fliess, I. Levine, P. Manin, and P. Rouchon, Flatness and defects of nonlinear systems: introductory theory and examples. h r, Joumnl of Conlml, issue.6, pp.611327-1361, 1995.

J. Hmosillo, C. Pradalier, and S. Sekhavat, Modelling cdometry and unceminty propagation for a bi-sterrable cw, Pmc. of the IEEE Inrelligenl Vehicle Synp.. Vmailles (FR). lune, 2002.

C. Hemosilla, . S. Pradalier, C. Sekhavaf, and . Laugier, Experimental issues from map building to trajectory execution for a bisteerable car, P m . of rhe IEEE Inr. Cor$ on Advanced Robotics, 2003.

S. Hcmosillo and . Sekhavat, Feedback control of a bi-steerable car using flatness: application to trajectory tracking, Pmc. of rhe American Control Conference, 2003.

. C. Koike, P. Radalier, E. Bessikre, and . Mazer, Proscriptive bayesian programming application for collision avoidance, Pmc. of the IEEE-RSJ Inr. Con$ on Iurelli~enr Robots and S p t e m, 2003.
URL : https://hal.archives-ouvertes.fr/hal-00019260

[. Ioif, D. Lamiraur, and . Bonnafous, Reactive trajectory deformation for non-holonomic systems: Application to mobile robots. I n Pmc, IEEE Inr. Con$ on Roborics and Auromarion, 2002.

[. Iiif, S. Large, . Z. Sekhavat, and C. Shiller, Laugier Towards realtime global motion planning in a dynamic environment using the NLVO concept, Pmc. offhe IEEE-RSJlnr. Con$ on lnrelligenr Robors ond System. Lausanne (CH), 2002.

F. Lefebwe, L. , and C. Pradalier, Obstacles avoidance for car-like robots. integration and experimentation on Ojo robots, Pmc. IEEE Inr. Con$ on Roborics and Auromorion, 2004.

C. Pradalier and S. Sekhavat, Concurrent matching, localization and map building using invariant features, IEEE/RSJ International Conference on Intelligent Robots and System
DOI : 10.1109/IRDS.2002.1041442
URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.4.2200

C. Samson and K. Ail-abderrahim, Feedback stabilization of a nonholonomic wheeled mobile roboL In Pmc, of rhe IEEE-RSJ Inr. Con$ on Inrelligenr Robors ond Systems, pp.1242-1246, 1991.

S. Sekhavat, 1. Hmnosillo, and P. Rouchon. Motion planning for a bi-steerable car, Pmc. of rhe IEEE Inl. Con$ on Robotics and Aulomnrion, pp.329-3299, 2001.