Xavier Goaoc, Hyo-Sil Kim, Sylvain Lazard. Bounded-Curvature Shortest Paths through a Sequence of Points using Convex Optimization.
SIAM Journal on Computing, Society for Industrial and Applied Mathematics, 2013, 42 (2), pp.662-684.
⟨10.1137/100816079⟩.
⟨hal-00927100⟩