@article{COCV_2011__17_2_293_0,
     author = {Sachkov, Yuri L.},
     title = {Cut locus and optimal synthesis in the sub-riemannian problem on the group of motions of a plane},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {293--321},
     publisher = {EDP-Sciences},
     volume = {17},
     number = {2},
     year = {2011},
     doi = {10.1051/cocv/2010005},
     mrnumber = {2801321},
     zbl = {1251.49057},
     language = {en},
     url = {http://www.numdam.org/articles/10.1051/cocv/2010005/}
}