@InProceedings{ES-LJ-MP:2015,
  author = {Schmerling, Edward and Janson, Lucas and Pavone, Marco},
  title = {Optimal Sampling-Based Motion Planning Under Differential
    Constraints: The Driftless Case},
  booktitle = {IEEE Conference on Robotics and Automation},
  year = {2015},
  address = {Seattle, WA},
  month = {May}
}