Experimental investigation of a path following controller for planar snake robots. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (ICARCV, 2010)

Path Following Control of Planar Snake Robots Using a Cascaded Approach. - Pål Liljebäck; Idar U. Haugstuen; Kristin Ytterstad Pettersen (IEEE Trans. Control. Syst. Technol., 2012)