We have been at IROS 2017 this week, where Lukas Dekker did a fantastic job presenting our work on the combination of ILC and feedback linearization for path following as applied to large vehicles. Check out the paper Industrial-scale autonomous wheeled-vehicle path following by combining iterative learning control with feedback linearization, which was a collaboration between MSL and the Rocktec Automation Division of Atlas Copco Rock Drills AB in Örebro, Sweden.
