Mario Sigalotti, Yacine Chitour. Dubins Problem on Surfaces II: Nonpositive Curvature. SIAM J. Control and Optimization, 45(2):457-482, 2006. [doi]
@article{SigalottiC06,
title = {Dubins Problem on Surfaces II: Nonpositive Curvature},
author = {Mario Sigalotti and Yacine Chitour},
year = {2006},
doi = {10.1137/040619739},
url = {http://dx.doi.org/10.1137/040619739},
researchr = {https://researchr.org/publication/SigalottiC06},
cites = {0},
citedby = {0},
journal = {SIAM J. Control and Optimization},
volume = {45},
number = {2},
pages = {457-482},
}