@InProceedings{ES-LJ-MP:2015,
  title={Optimal Sampling-Based Motion Planning under Differential
    Constraints: the Drift Case with Linear Affine Dynamics},
  author={Schmerling, Edward and Janson, Lucas and Pavone, Marco},
  booktitle={Conference on Decision and Control},
  year={2015},
  address={Osaka, Japan},
  month={December}
}