@article {Sanfelice:2014:MPB:2583140.2583488,
	title = {On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints},
	journal = {Automatica},
	volume = {50},
	year = {2014},
	pages = {537{\textendash}546},
	keywords = {Dubins vehicle, Hybrid control, Motion planning, optimal control},
	issn = {0005-1098},
	doi = {10.1016/j.automatica.2013.11.016},
	url = {http://dx.doi.org/10.1016/j.automatica.2013.11.016},
	author = {Sanfelice, Ricardo G. and Yong, Sze Zheng and Emilio Frazzoli}
}