https://ieeexplore-ieee-org.ezproxy.lib.uts.edu.au/stamp/stamp.jsp?tp=&arnumber=10443502

He also mentioned that the following paper is a good supplemental reference.

Implementing Dubins Airplane Paths on Fixed-wing UAVs (McClain, Beard, Owen)

https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=2926&context=facpub

See you all later today!