@phdthesis{Mauder2012,
  author      = {Markus Mauder},
  title       = {Time-Optimal Control of the Bi-Steerable Robot: A Case Study in Optimal Control of Nonholonomic Systems},
  type        = {doctoralthesis},
  school      = {Universit{\"a}t W{\"u}rzburg},
  year        = {2012},
}