Aveek Das Oleg Naroditsky Zhiwei Zhu Supun Samarasekera Rakesh Kumar Robust visual path following for heterogeneous mobile platforms. 2431-2437 2010 ICRA http://dx.doi.org/10.1109/ROBOT.2010.5509699 conf/icra/2010 db/conf/icra/icra2010.html#DasNZSK10