@INPROCEEDINGS{sprunk10rssws,
  author = {Christoph Sprunk and Boris Lau and Patrick Pfaff and Wolfram Burgard},
  title = {Online Kinodynamic Trajectory Planning for Non-circular Omnidirectional Robots},
  booktitle = {RSS Workshop on Motion Planning},
  year = {2010},
  address = {Zaragoza, Spain}
}