Giovanni Indiveri Jan Paulus Paul-Gerhard Plöger Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation. 35-46 2006 conf/robocup/2006 RoboCup http://dx.doi.org/10.1007/978-3-540-74024-7_4 db/conf/robocup/robocup2006.html#IndiveriPP06