Yao, Jianjun; Gao, Shuang; Jiang, Guilin; Hill, Thomas L.; Yu, Han; Xiao, Rui; Chen, Shuo: 'Position and orientation error analysis and its compensation for a wheeled train uncoupling robot with four degrees-of-freedom', IET Intelligent Transport Systems, 2015, 9, (2), p. 156-166, DOI: 10.1049/iet-its.2014.0027
IET Digital Library, https://digital-library.theiet.org/;jsessionid=k5at8ac6jahc.x-iet-live-01content/journals/10.1049/iet-its.2014.0027