https://www.cv.imm.uran.ru/e/3241595-reachable-sets-for-dubins-car-in-control-problems-physical-visualization

Starodubtsev I.S., Fedotov A.A., Averbukh V.L., Patsko V.S, Reachable Sets for Dubins Car in Control Problems: Physical Visualization // 24th International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision. WSCG 2016. Plzen, Czech Republic May 30 – June 3, 2016. Posters Proceedings. Pp. 49-52.