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R. C. Michelini, Molfino, R. M., Ghigliazza, R., and Callegari, M., The tyre-soil effects on the manoeuvrability of a city-car, in Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on, 2001, vol. 1, pp. 428–433.