@article{wolek2016time,
  title={Time-optimal path planning for a kinematic car with variable speed},
  author={Wolek, Artur and Cliff, Eugene M and Woolsey, Craig A},
  journal={Journal of Guidance, Control, and Dynamics},
  volume={39},
  number={10},
  pages={2374--2390},
  year={2016},
  publisher={American Institute of Aeronautics and Astronautics},
  doi={10.2514/1.G001317}
}