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Pankaj K. Agarwal, Therese C. Biedl, Sylvain Lazard, Steve Robbins, Subhash Suri, Sue Whitesides. Curvature-Constrained Shortest Paths in a Convex Polygon. SIAM Journal on Computing, 31(6):1814-1851, 2002. [doi]
Abstract is missing.