@article {cowlagicurvature,
	title = {Curvature-Bounded Traversability Analysis in Motion Planning for Mobile Robots},
	journal = {Transactions on Robotics, IEEE},
	volume = {30},
	year = {2014},
	month = {08/2014},
	chapter = {1011},
	author = {Raghvendra V. Cowlagi and Panagiotis Tsiotras}
}