@mastersthesis {Calisi-PhdThesis, title = {Mobile Robots and Vehicles Motion Systems: a Unifying Framework}, year = {2010}, school = {{\textquoteleft}{\textquoteleft}Sapienza{\textquoteright}{\textquoteright} University of Rome, Department of Computer and System Sciences}, type = {phd}, address = {Rome, Italy}, author = {D. Calisi} }