@article{RuMu16,
  author={U. Ruiz and R. Murrieta-Cid},
  title={A differential pursuit/evasion game of capture between
an omnidirectional agent and a differential drive robot, and their winning roles},
  journal={International Journal of Control},
  month={November},
  pages={2169-2184},
  volume=89,
  number=11,
  year={2016}}