Jean-Daniel Boissonnat Subir Kumar Ghosh Telikepalli Kavitha Sylvain Lazard An Algorithm for Computing a Convex and Simple Path of Bounded Curvature in a Simple Polygon. 109-156 2002 34 Algorithmica 2 http://link.springer.de/link/service/journals/00453/contents/02/0950/index.html db/journals/algorithmica/algorithmica34.html#BoissonnatGKL02