@phdthesis{Alenya_phd07,
  author = {Aleny{\`a}, G.},
  title = {Estimaci{\'o} del moviment de robots mitjan├žant contorns actius},
  school = {Universitat Polit{\`e}cnica de Catalunya},
  year = {2007},
  file = {https://www.tdx.cat/bitstream/handle/10803/6198/01Gar01de01.pdf},
  issn = {978-84-691-0726-3}
}