Bruce Donald, Patrick Xavier. A provably good approximation algorithm for optimal-time trajectory planning. In Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA, May 14-19, 1989. pages 958-963, IEEE, 1989. [doi]
@inproceedings{DonaldX89, title = {A provably good approximation algorithm for optimal-time trajectory planning}, author = {Bruce Donald and Patrick Xavier}, year = {1989}, doi = {10.1109/ROBOT.1989.100104}, url = {http://dx.doi.org/10.1109/ROBOT.1989.100104}, researchr = {https://researchr.org/publication/DonaldX89}, cites = {0}, citedby = {0}, pages = {958-963}, booktitle = {Proceedings of the 1989 IEEE International Conference on Robotics and Automation, Scottsdale, Arizona, USA, May 14-19, 1989}, publisher = {IEEE}, }