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Automated vehicles navigate through their environment by first planning and subsequently following a safe trajectory. To prove safer than human beings, they must ultimately perform these tasks as well or better than human drivers across a broad range of conditions and in critical situations. We show that a feedforward-feedback control structure incorporating a simple physics-based model can be used to track a path up to the friction limits of the vehicle with performance comparable with adoi:10.1126/scirobotics.aaw1975 pmid:33137751 fatcat:dk55fitiurg57o3fn6lishpuda