%0 Journal Article 
%F J1
%A Robuffo Giordano, P.
%A Vendittelli, M.
%A Laumond, J.-P.
%A Souères, P.
%T {Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape}
%J IEEE Transactions on Robotics
%V 	 22
%N 5
%P 1040-1047
%X This paper shows how to compute the nonholonomic distance between a polygonal car-like robot and polygonal obstacles. The solution extends previous work of Reeds and Shepp by finding the shortest path to a manifold (rather than to a point) in configuration space. Based on optimal control theory, the proposed approach yields an analytic solution to the problem
%U http://rainbow-doc.irisa.fr/pdf/paolo/TRO_06.pdf
%U http://dx.doi.org/10.1109/TRO.2006.878956
%8 September
%D 2006