@article {88,
	title = {On Minimum-time Paths of Bounded Curvature with Position-dependent Constraints},
	journal = {Automatica},
	volume = {50},
	number = {2},
	year = {2014},
	month = {February},
	pages = {537{\textendash}546},
	keywords = {hybrid systems},
	doi = {http://www.sciencedirect.com/science/article/pii/S0005109813005335},
	author = {R. G. Sanfelice and S. Z. Yong and E. Frazzoli}
}

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