@inproceedings{BhMuHu04,
  author={S. Bhattacharya and R. Murrieta-Cid and S. Hutchinson},
  title={Path Planning for a Differential Drive Robot: Minimal Length Paths - a Geometric Approach},
  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={2793-2798},
  year={2004}}