@BOOK{l.moreno1996theindustrialelectronics, CHAPTER = {Mobile Robots}, TITLE = {The Industrial Electronics Handbook}, PUBLISHER = {CRC Press}, ISBN = {0-8493-8343-9}, CITY = {}, PAGES = {773 - 784}, YEAR = {1996}, AUTHOR = {L. Moreno, M.A. Salichs} }