@article{LoMuBeLaLa18,
  author={R. Lopez-Padilla and R. Murrieta-Cid and I. Becerra and G. Laguna and S. M. LaValle },
  title={Optimal Navigation for a Differential Drive Disc Robot: A Game Against the Polygonal Environment},
  journal={Journal of Intelligent and Robotic Systems},
  month={January},
  pages={211-250},
  volume=89,
  number=1-2,
  year={2018}}