@conference{ACC09,
author={A. Tinka and S. Diemer and L. Madureira and E. Marques and J. Sousa and R. Martins and J. Pinto and J. E. Silva and P. Saint-Pierre and A. M. Bayen},
title={Viability-based computation of spatially constrained minimum time trajectories for an autonomous underwater vehicle: implementation and experiments},
pages={3603 -- 3610},
year={2009},
publisher={IEEE Computer Society},
booktitle={Proc. American Control Conference},
doi={10.1109/ACC.2009.5160166}
}