Andrea Cherubini François Chaumette Giuseppe Oriolo An image-based visual servoing scheme for following paths with nonholonomic mobile robots. 108-113 2008 ICARCV http://dx.doi.org/10.1109/ICARCV.2008.4795501 conf/icarcv/2008 db/conf/icarcv/icarcv2008.html#CherubiniCO08