Karl Iagnemma Steven Dubowsky Mobile Robots in Rough Terrain - Estimation, Motion Planning, and Control with Application to Planetary Rovers 12 2004 1-99 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/b94718 978-3-540-21968-2 db/series/star/index.html#IagnemmaD04