@inproceedings{CheFraLav03,
  author       = {P. Cheng and E. Frazzoli and S. LaValle},
  title        = {Exploiting Group Symmetries to Improve Precision in Kinodynamic and Nonholonomic Planning},
  booktitle    = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year         = {2003}
}