@INPROCEEDINGS{BaTsi:acc09,
  author = {Bakolas, E. and Tsiotras, P.},
  title = {On the Generation of Nearly Optimal, Planar Paths of Bounded Curvature
	and Curvature Gradient},
  booktitle = {American Control Conference},
  year = {June 10--12, 2009},
  pages = {385--390},
  address = {St. Louis, MO}
}