A Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers.

Lucia Pallottino Antonio Bicchi A Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers. 3098-3103 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363943 db/conf/icra/icra2007.html#PallottinoB07