Optimal Geodesic Curvature Constrained Dubins' Paths on a Sphere. - Swaroop Darbha; Athindra Pavan; Kumbakonam R. Rajagopal; Sivakumar Rathinam; David W. Casbeer; Satyanarayana G. Manyam (J. Optim. Theory Appl., 2023)