Explicit expression for the generating function counting Gessel's walks

Gessel's walks are the planar walks that move within the positive quadrant $\mathbb{Z}_{+}^{2}$ by unit steps in any of the following directions: West, North-East, East and South-West. In this paper, we find an explicit expression for the trivariate generating function counting the Gessel's walks with $k\geq 0$ steps, which start at $(0,0)$ and end at a given point $(i,j) \in \mathbb{Z}^2_+$.