Andrea Cherubini Giuseppe Oriolo Francesco Macrì Fabio Aloise Febo Cincotti Donatella Mattia A multimode navigation system for an assistive robotics project. 383-404 2008 25 Auton. Robots 4 http://dx.doi.org/10.1007/s10514-008-9102-y db/journals/arobots/arobots25.html#CherubiniOMACM08