Han-Shue Tan; Guldner, J.; Patwardhan, S.; Chieh Chen; and others.
     Development of an automated steering vehicle based on roadway magnets-a
     case study of mechatronic system design.
   IEEE/ASME Transactions on Mechatronics, Sept. 1999, vol.4, (no.3):258-72.
 
 Guldner, J.; Sienel, W.; Han-Shue Tan; Ackermann, J.; and others.
     Robust automatic steering control for look-down reference systems with
     front and rear sensors.
   IEEE Transactions on Control Systems Technology, Jan. 1999, vol.7,
   (no.1):2-11.
 
  Patwardhan, S.; Han-Shue Tan; Guldner, J.
     A general framework for automatic steering control: system analysis.
   Proceedings of 16th American CONTROL Conference, Albuquerque,
   NM, USA, 4-6 June 1997). Evanston, IL, USA: American Autom. Control Council,
   1997. p. 1598-602 vol.3.
 
   Patwardhan, S.; Han-Shue Tan; Guldner, J.; Tomizuka, M.
     Lane following during backward driving for front wheel steered vehicles.
   Proceedings of 16th American CONTROL Conference, Albuquerque,
   NM, USA, 4-6 June 1997). Evanston, IL, USA: American Autom. Control Council,
   1997. p. 3348-53 vol.5.
 
 Guldner, J.; Han-Shue Tan; Patwardhan, S.
     Study of design directions for lateral vehicle control.
   Proceedings of the 36th IEEE Conference on
   Decision and Control, San Diego, CA, USA, 10-12 Dec. 1997). New York, NY,
   USA: IEEE, 1997. p. 4732-7 vol.5.
 
 Guldner, J.; Han-Shue Tan; Patwardhan, S.
      Analysis of automatic steering control for highway vehicles with
      look-down lateral reference systems.
    Vehicle System Dynamics, Oct. 1996, vol.26, (no.4):243-69.