Near Optimal Robust Path Planning for Mobile Robots: the Viscous Fluid Method with Friction. - C. Louste; Alain Liégeois (J. Intell. Robotic Syst., 2000)

Path planning for non-holonomic vehicles: a potential viscous fluid field method. - C. Louste; Alain Liégeois (Robotica, 2002)