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This paper deals with reactive and flexible humanlike autonomous vehicle navigation. A human driver reactively guides his vehicle, performing a smooth trajectory within the roads limits until reaching the defined goal. To obtain a similar behavior with an unmanned ground vehicle (UGV), this paper proposes a flexible control law to drive a vehicle towards desired static or dynamic targets based on a novel definition of control variables and Lyapunov stability analysis. Moreover, a targetdoi:10.1109/iros.2013.6696432 dblp:conf/iros/VilcaAML13 fatcat:asar3xbwrvar7g4coh6iutdlt4