@INPROCEEDINGS{93cdc-pathplanning,
   AUTHOR       = {E.D. Sontag},
   BOOKTITLE    = {Proc. IEEE Conf. Decision and Control, San Antonio, Dec. 1993, IEEE Publications, 1993},
   TITLE        = {Numerical path planning based on nonsingular controls},
   YEAR         = {1993},
   OPTADDRESS   = {},
   OPTCROSSREF  = {},
   OPTEDITOR    = {},
   OPTMONTH     = {},
   OPTNOTE      = {},
   OPTNUMBER    = {},
   OPTORGANIZATION = {},
   PAGES        = {2706--2711},
   OPTPUBLISHER = {},
   OPTSERIES    = {},
   OPTVOLUME    = {}
}

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