https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1705595 (出版社版)
Robuffo Giordano, P., Vendittelli, M., Laumond, J.-P., & Souères, P. (2006). Nonholonomic distance to polygonal obstacles for a car-like robot of polygonal shape. IEEE Transactions on Robotics, 22(5), 1040-1047. doi:10.1109/TRO.2006.878956.