@article{COCV_2010__16_4_1018_0,
     author = {Sachkov, Yuri L.},
     title = {Conjugate and cut time in the sub-riemannian problem on the group of motions of a plane},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {1018--1039},
     publisher = {EDP-Sciences},
     volume = {16},
     number = {4},
     year = {2010},
     doi = {10.1051/cocv/2009031},
     mrnumber = {2744160},
     language = {en},
     url = {http://www.numdam.org/articles/10.1051/cocv/2009031/}
}