@ARTICLE{s.garrido2009fm2:a,
TITLE = {Fm2:  A Real-Time Sensor-Based  Feedback Controller For Mobile Robots},
JOURNAL = {International Journal of Robotics and Automation},
VOLUME = {24},
NUMBER = {1},
PAGES = {3169 - 3192},
YEAR = {2009},
AUTHOR = {S. Garrido, D. Blanco, M. Abderrahim, L. Moreno}
}