@conference {23,
	title = {On the optimality of {D}ubins paths across heterogeneous terrain},
	booktitle = {Hybrid Systems: Computation and Control},
	series = {Lecture Notes in Computer Science},
	volume = {4981},
	year = {2008},
	pages = {457-470},
	publisher = {Springer Berlin / Heidelberg},
	organization = {Springer Berlin / Heidelberg},
	chapter = {On the optimality of {D}ubins paths across heterogeneous terrain},
	abstract = {We derive optimality conditions for the paths of Dubins vehicle when the state space is given by the union of two patches with different vehicle constant forward velocity. We recast this problem as a hybrid optimal control problem and solve it using recent optimality principles for hybrid systems. Among the optimality conditions, we derive a {\textquoteleft}{\textquoteleft}refraction" law at the boundary of the patches which generalizes the so-called Snell{\textquoteright}s law of refraction in optics to the case of paths with bounded maximum curvature.},
	keywords = {hybrid systems},
	doi = {http://www.springerlink.com/content/c3g1478530540265/fulltext.pdf:PDF;HTML:http\://www.springerlink.com/content/c3g1478530540265/:URL},
	url = {https://hybrid.soe.ucsc.edu/files/preprints/23.pdf},
	author = {R. G. Sanfelice and E. Frazzoli}
}
