Sanches, V. M., Cunha, P. B. P. da, Simas, H., Normey-Rico, J. E., & Cavaco, M. A. M. (2024). 2D balance control of a self-balancing robot for power inspection in urban networks. Revista Principia, 61(2), 314–334. https://doi.org/10.18265/1517-0306a2021id6839