Dubins' problem is intrinsically three-dimensional
ESAIM: Control, Optimisation and Calculus of Variations, Tome 3 (1998), pp. 1-22. 
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     author = {Mittenhuber, Dirk},
     title = {Dubins' problem is intrinsically three-dimensional},
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     publisher = {EDP-Sciences},
     volume = {3},
     year = {1998},
     mrnumber = {1600103},
     zbl = {0905.49019},
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     url = {http://www.numdam.org/item/COCV_1998__3__1_0/}
}
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Mittenhuber, Dirk. Dubins' problem is intrinsically three-dimensional. ESAIM: Control, Optimisation and Calculus of Variations, Tome 3 (1998), pp. 1-22. http://www.numdam.org/item/COCV_1998__3__1_0/

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