@techreport{Jea-Lon-Ori-Ven-2008,
    author={Frédéric Jean and Ruixing Long and Giuseppe Oriolo and 
           Marilena Vendittelli },
    title={An Approximate Algorithm for Nonholonomic Motion Planning },
    institution={Preprint CMAP N. 651 },
    year={2008 },
    month={12},
}