@ARTICLE{TVS04,
  author = {Tsiotras, P. and Velenis, E. and Sorine, M.},
  title = {A {LuGre} Tire Friction Model with Exact Aggregate Dynamics},
  journal = {Vehicle System Dynamics},
  year = {2004},
  volume = {42},
  pages = {195--210},
  number = {3}
}