Optimal navigation in planar time-varying flow: Zermelo's problem revisited

@article{Techy2011OptimalNI,
  title={Optimal navigation in planar time-varying flow: Zermelo's problem revisited},
  author={Laszlo Techy},
  journal={Intelligent Service Robotics},
  year={2011},
  volume={4},
  pages={271-283}
}