@inproceedings{CheFraKum06,
  author       = {P. Cheng and E. Frazzoli and V. Kumar},
  title        = {Motion Planning for the Roller Racer with a
Sticking/Slipping Switching Model},
  booktitle    = {Proceedings IEEE International Conference on Robotics
                 and Automation},
  year         = {2006}
}