Douglas Guimarães Macharet Armando Alves Neto Vilar Fiuza da Camara Neto Mario Fernando Montenegro Campos Nonholonomic path planning optimization for Dubins' vehicles. 4208-4213 2011 ICRA http://dx.doi.org/10.1109/ICRA.2011.5980239 conf/icra/2011 db/conf/icra/icra2011.html#MacharetNNC11