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