Optimal curvature-constrained paths with anisotropic costs in the plane. - Alan J. Chang; Marcus Brazil; Doreen A. Thomas; J. Hyam Rubinstein (AuCC, 2011)

Optimal curvature and gradient-constrained paths with anisotropic costs. - Alan J. Chang (2011)

Curvature-constrained directional-cost paths in the plane. - Alan J. Chang; Marcus Brazil; J. Hyam Rubinstein; Doreen A. Thomas (J. Glob. Optim., 2012)

Optimal curvature and gradient-constrained directional cost paths in 3-space. - Alan J. Chang; Marcus Brazil; J. Hyam Rubinstein; Doreen A. Thomas (J. Glob. Optim., 2015)