P. Jurewicz, S. Garrido, D. Blanco, L. Moreno. Optimal Control using the Fast Marching Method. IEEE IECON 2009 the 35th Annual Conference of the IEEE Industrial Electronics Society. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5414750, DOI: 10.1109/IECON.2009.5414750. , ISBN: 978-1-4244-4648, pages: 1669 - 1674, IEEE. 2009-11-03, Porto, Portugal. 2009.