%0 Journal Article 
%F TRO_JPL
%A Salaris, P.
%A Vassallo, C.
%A Soueres, P.
%A Laumond, J.-P.
%T The geometry of confocal curves for passing through a door
%J IEEE Transactions on Robotics
%V 31
%N 5
%P 1180-1193
%U http://dx.doi.org/10.1109/TRO.2015.2473457
%8 October
%D 2015