@article{DCG_1991__6_4_131171,
     author = {J. Canny and A. Rege and J. Reif},
     title = {An {Exact} {Algorithm} for {Kinodynamic} {Planning} in the {Plane.}},
     journal = {Discrete & computational geometry},
     pages = {461--484},
     publisher = {mathdoc},
     volume = {6},
     number = {4},
     year = {1991},
     zbl = {0764.68190},
     url = {http://geodesic.mathdoc.fr/item/DCG_1991__6_4_131171/}
}