Tire longitudinal grip estimation for improved safety of vehicles in off-road conditions. - Ange Nizard; Benoît Thuilot; Roland Lenain (ICRA, 2015)

Lessons learned after more than 1000 km in an autonomous shuttle guided by vision. - Eric Royer; François Marmoiton; Serge Alizon; Datta Ramadasan; Morgan Slade; Ange Nizard; Michel Dhome; Benoît Thuilot; Florent Bonjean (ITSC, 2016)

Path Tracking of a Bi-steerable Mobile Robot: An Adaptive Off-road Multi-control Law Strategy. - Roland Lenain; Ange Nizard; Mathieu Deremetz; Benoît Thuilot; Vianney Papot; Christophe Cariou (ICINCO (2), 2018)

Controlling Off-Road Bi-steerable Mobile Robots: An Adaptive Multi-control Laws Strategy. - Roland Lenain; Ange Nizard; Mathieu Deremetz; Benoît Thuilot; Vianney Papot; Christophe Cariou (ICINCO (Selected Papers), 2018)