{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,11]],"date-time":"2026-05-11T12:40:53Z","timestamp":1778503253221,"version":"3.51.4"},"reference-count":78,"publisher":"Springer Science and Business Media LLC","issue":"S1","license":[{"start":{"date-parts":[[2015,1,8]],"date-time":"2015-01-08T00:00:00Z","timestamp":1420675200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2015,12]]},"DOI":"10.1007\/s10846-014-0172-0","type":"journal-article","created":{"date-parts":[[2015,1,7]],"date-time":"2015-01-07T19:25:57Z","timestamp":1420658757000},"page":"23-56","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":164,"title":["Continuous Path Smoothing for Car-Like Robots Using B-Spline Curves"],"prefix":"10.1007","volume":"80","author":[{"given":"Mohamed","family":"Elbanhawi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Milan","family":"Simic","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Reza N.","family":"Jazar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2015,1,8]]},"reference":[{"key":"172_CR1","doi-asserted-by":"crossref","unstructured":"Reif, J.H.: Complexity of the mover\u2019s problem and generalizations. In: Foundations of Computer Science, 1979., 20th Annual Symposium on, pp. 421\u2013427 (1979)","DOI":"10.1109\/SFCS.1979.10"},{"issue":"11","key":"172_CR2","doi-asserted-by":"crossref","first-page":"1119","DOI":"10.1177\/02783649922067753","volume":"18","author":"J-C Latombe","year":"1999","unstructured":"Latombe, J.-C.: Motion Planning: A journey of robots, molecules, digital actors, and other artifacts. Int. J. Robot. Res. 18(11), 1119\u20131128 (1999). doi: 10.1177\/02783649922067753","journal-title":"Int. J. Robot. Res."},{"key":"172_CR3","unstructured":"Choset, H.M.: Principles of Robot Motion, Theory, Algorithms, and Implementation. Prentice Hall of India (2005)"},{"issue":"2","key":"172_CR4","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1109\/TSMC.1985.6313352","volume":"15","author":"RA Brooks","year":"1985","unstructured":"Brooks, R.A., Lozano-Perez, T.: A subdivision algorithm in configuration space for findpath with rotation. IEEE Trans. Syst. Man Cybern. 15(2), 224\u2013233 (1985). doi: 10.1109\/TSMC.1985.6313352","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"172_CR5","doi-asserted-by":"crossref","unstructured":"Canny, J.: A Voronoi method for the piano-movers problem. In: Robotics and Automation. Proceedings. 1985 IEEE International Conference on, pp. 530\u2013535 (1985)","DOI":"10.1109\/ROBOT.1985.1087297"},{"issue":"1","key":"172_CR6","doi-asserted-by":"crossref","first-page":"90","DOI":"10.1177\/027836498600500106","volume":"5","author":"O Khatib","year":"1986","unstructured":"Khatib, O.: Real-time obstacle avoidance for manipulators and mobile robots. Int. J. Robot. Res. 5(1), 90\u201398 (1986). doi: 10.1177\/027836498600500106","journal-title":"Int. J. Robot. Res."},{"issue":"4","key":"172_CR7","doi-asserted-by":"crossref","first-page":"92","DOI":"10.1177\/027836498900800406","volume":"8","author":"RC Arkin","year":"1989","unstructured":"Arkin, R.C.: Motor Schema Based Mobile Robot Navigation. Int. J. Robot. Res. 8(4), 92\u2013112 (1989). doi: 10.1177\/027836498900800406","journal-title":"Int. J. Robot. Res."},{"key":"172_CR8","doi-asserted-by":"crossref","unstructured":"Koren, Y., Borenstein, J.: Potential field methods and their inherent limitations for mobile robot navigation. In: Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on, vol. 1392, pp. 1398\u20131404 (1991)","DOI":"10.1109\/ROBOT.1991.131810"},{"key":"172_CR9","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1109\/ACCESS.2014.2302442","volume":"2","author":"M Elbanhawi","year":"2014","unstructured":"Elbanhawi, M., Simic, M.: Sampling-based robot motion planning: a review. IEEE Access 2, 56\u201377 (2014). doi: 10.1109\/ACCESS.2014.2302442","journal-title":"IEEE Access"},{"issue":"8","key":"172_CR10","doi-asserted-by":"crossref","first-page":"845","DOI":"10.1177\/0278364907079280","volume":"26","author":"R Geraerts","year":"2007","unstructured":"Geraerts, R., Overmars, M.H.: Creating high-quality paths for motion planning. Int. J. Robot. Res. 26(8), 845\u2013863 (2007). doi: 10.1177\/0278364907079280","journal-title":"Int. J. Robot. Res."},{"key":"172_CR11","doi-asserted-by":"crossref","unstructured":"Laumond, J.P., Sekhavat, S., Lamiraux, F.: Guidelines in nonholonomic motion planning for mobile robots. In: J.P. Laumond (ed.) Robot Motion Planning and Control, vol. 229. Lecture Notes in Control and Information Sciences, pp. 1\u201353. Springer Berlin Heidelberg (1998)","DOI":"10.1007\/BFb0036070"},{"key":"172_CR12","unstructured":"Cheng, P.: Sampling-based motion planning with differential constraints. Ph.D. University of Illinois at Urbana-Champaign (2005)"},{"key":"172_CR13","unstructured":"Wallace, R., Stentz, A., Thorpe, C., Moravec, H., Whittaker, W., Kanade, T.: First Results in Robot Road Following. In: 1985, pp. 381\u2013387"},{"issue":"2","key":"172_CR14","doi-asserted-by":"crossref","first-page":"211","DOI":"10.1109\/TFUZZ.2006.879998","volume":"15","author":"G Antonelli","year":"2007","unstructured":"Antonelli, G., Chiaverini, S., Fusco, G.: A fuzzy-logic-based approach for mobile robot path tracking. IEEE Trans. Fuzzy Syst. 15(2), 211\u2013221 (2007)","journal-title":"IEEE Trans. Fuzzy Syst."},{"issue":"1","key":"172_CR15","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1109\/TITS.2010.2060722","volume":"12","author":"J Perez","year":"2011","unstructured":"Perez, J., Milanes, V., Onieva, E.: Cascade architecture for lateral control in autonomous vehicles. IEEE Intell. Transp. Syst. 12(1), 73\u201382 (2011). doi: 10.1109\/TITS.2010.2060722","journal-title":"IEEE Intell. Transp. Syst."},{"issue":"2","key":"172_CR16","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1177\/1077546309104467","volume":"16","author":"RN Jazar","year":"2010","unstructured":"Jazar, R.N.: Mathematical theory of autodriver for autonomous vehicles. J. Vib. Control. 16(2), 253\u2013279 (2010)","journal-title":"J. Vib. Control."},{"key":"172_CR17","doi-asserted-by":"crossref","unstructured":"Marzbani, H., Ahmad Salahuddin, M.H., Simic, M., Fard, M., Jazar, R.N.: Steady-state dynamic steering. In: Frontiers in Artificial Intelligence and Applications, vol. 262 (2014)","DOI":"10.1007\/978-3-319-09462-5_1"},{"key":"172_CR18","doi-asserted-by":"crossref","unstructured":"Cheein, F.A., Scaglia, G.: Trajectory Tracking Controller Design for Unmanned Vehicles: A New Methodology. Journal of Field Robotics, n\/a-n\/a. doi: 10.1002\/rob.21492 (2013)","DOI":"10.1002\/rob.21492"},{"key":"172_CR19","doi-asserted-by":"crossref","unstructured":"Magid, E., Keren, D., Rivlin, E., Yavneh, I.: Spline-Based Robot Navigation. In: Intelligent Robots and Systems, 2006 IEEE\/RSJ International Conference on, pp. 2296\u20132301 (2006)","DOI":"10.1109\/IROS.2006.282635"},{"key":"172_CR20","unstructured":"Roth, S., Batavia, P.: Evaluating Path Tracker Performance for Outdoor Mobile Robots. Paper presented at the Automation Technology for Off-Road Equipment, Chicago, Illinois, USA, 26\u201327\/07"},{"key":"172_CR21","doi-asserted-by":"crossref","unstructured":"Lau, B., Sprunk, C., Burgard, W.: Kinodynamic motion planning for mobile robots using splines. In: Intelligent Robots and Systems, 2009. IROS 2009. IEEE\/RSJ International Conference on, pp. 2427\u20132433 (2009)","DOI":"10.1109\/IROS.2009.5354805"},{"key":"172_CR22","doi-asserted-by":"crossref","unstructured":"Gulati, S., Kuipers, B.: High performance control for graceful motion of an intelligent wheelchair. In: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, pp. 3932\u20133938 (2008)","DOI":"10.1109\/ROBOT.2008.4543815"},{"issue":"1","key":"172_CR23","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1109\/TASE.2009.2015886","volume":"7","author":"T Berglund","year":"2010","unstructured":"Berglund, T., Brodnik, A., Jonsson, H., Staffanson, M., Soderkvist, I.: Planning smooth and obstacle-avoiding b-spline paths for autonomous mining vehicles. IEEE Trans. Autom. Sci. Eng. 71), 167\u2013172 (2010). doi: 10.1109\/TASE.2009.2015886","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"issue":"4","key":"172_CR24","doi-asserted-by":"crossref","first-page":"350","DOI":"10.1016\/j.cad.2009.12.007","volume":"42","author":"T Maekawa","year":"2010","unstructured":"Maekawa, T., Noda, T., Tamura, S., Ozaki, T., Machida, K.-i.: Curvature continuous path generation for autonomous vehicle using B-spline curves. Comput. Aided Des. 42(4), 350\u2013359 (2010) doi: 10.1016\/j.cad.2009.12.007","journal-title":"Comput. Aided Des."},{"issue":"4","key":"172_CR25","doi-asserted-by":"crossref","first-page":"399","DOI":"10.1016\/j.biosystemseng.2013.08.012","volume":"116","author":"D Sabelhaus","year":"2013","unstructured":"Sabelhaus, D., R\u00f6ben, F., Meyer zu Helligen, L.P., Schulze Lammers, P.: Using continuous-curvature paths to generate feasible headland turn manoeuvres. Biosyst. Eng. 116(4), 399\u2013409 (2013). doi: 10.1016\/j.biosystemseng.2013.08.012","journal-title":"Biosyst. Eng."},{"key":"172_CR26","doi-asserted-by":"crossref","unstructured":"Girb\u00e9s, V., Armesto, L., Tornero, J.: Path following hybrid control for vehicle stability applied to industrial forklifts. Robot. Auton. Syst. 0 (2014). doi: 10.1016\/j.robot.2014.01.004","DOI":"10.1016\/j.robot.2014.01.004"},{"key":"172_CR27","doi-asserted-by":"crossref","unstructured":"Xuan-Nam, B., Boissonnat, J.-d., Soueres, P., Laumond, J.P.: Shortest path synthesis for Dubins non-holonomic robot. In: Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on, 8\u201313 1994, Vol. 1, pp. 2\u20137","DOI":"10.1109\/ROBOT.1994.351019"},{"issue":"3","key":"172_CR28","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1109\/TCST.2004.839555","volume":"13","author":"EP Anderson","year":"2005","unstructured":"Anderson, E.P., Beard, R.W., McLain, T.W.: Real-time dynamic trajectory smoothing for unmanned air vehicles. IEEE Trans. Control Syst. Technol. 13(3), 471\u2013477 (2005). doi: 10.1109\/TCST.2004.839555","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"172_CR29","doi-asserted-by":"crossref","unstructured":"Myung, H., Kuffner, J., Kanade, T.: Efficient Two-phase 3D Motion Planning for Small Fixed-wing UAVs. In: Robotics and Automation, 2007 IEEE International Conference on, pp. 1035\u20131041 (2007)","DOI":"10.1109\/ROBOT.2007.363121"},{"key":"172_CR30","doi-asserted-by":"crossref","unstructured":"LaValle, S.: Planning Algorithms. Cambridge University Press (2006)","DOI":"10.1017\/CBO9780511546877"},{"key":"172_CR31","doi-asserted-by":"crossref","unstructured":"Suzuki, Y., Kagami, S., Kuffner, J.J.: Path Planning with Steering Sets for Car-Like Robots and Finding an Effective Set. In: Robotics and Biomimetics, 2006. ROBIO \u201906. IEEE International Conference on, pp. 1221\u20131226 (2006)","DOI":"10.1109\/ROBIO.2006.340102"},{"issue":"3","key":"172_CR32","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1002\/rob.20285","volume":"26","author":"M Pivtoraiko","year":"2009","unstructured":"Pivtoraiko, M., Knepper, R.A., Kelly, A.: Differentially constrained mobile robot motion planning in state lattices. J. Field Robot. 26(3), 308\u2013333 (2009)","journal-title":"J. Field Robot."},{"issue":"6","key":"172_CR33","doi-asserted-by":"crossref","first-page":"1025","DOI":"10.1109\/TRO.2004.833789","volume":"20","author":"T Fraichard","year":"2004","unstructured":"Fraichard, T., Scheuer, A.: From Reeds and Shepp\u2019s to continuous-curvature paths. Robot. IEEE Trans. 20(6), 1025\u20131035 (2004). doi: 10.1109\/TRO.2004.833789","journal-title":"Robot. IEEE Trans."},{"issue":"14","key":"172_CR34","doi-asserted-by":"crossref","first-page":"1049","DOI":"10.1016\/S0010-4485(00)00142-1","volume":"33","author":"LZ Wang","year":"2001","unstructured":"Wang, L.Z., Miura, K.T., Nakamae, E., Yamamoto, T., Wang, T.J.: An approximation approach of the clothoid curve defined in the interval [0, \u03c0\/2] and its offset by free-form curves. Comput. Aided Des. 33(14), 1049\u20131058 (2001). doi: 10.1016\/S0010-4485(00)00142-1","journal-title":"Comput. Aided Des."},{"issue":"1","key":"172_CR35","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1016\/j.cam.2003.12.038","volume":"170","author":"DS Meek","year":"2004","unstructured":"Meek, D.S., Walton, D.J.: An arc spline approximation to a clothoid. J. Comput. Appl. Math. 170(1), 59\u201377 (2004) doi: 10.1016\/j.cam.2003.12.038","journal-title":"J. Comput. Appl. Math."},{"key":"172_CR36","doi-asserted-by":"crossref","unstructured":"Montes, N., Herraez, A., Armesto, L., Tornero, J.: Real-time clothoid approximation by Rational Bezier curves. In: In: Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on, pp. 2246\u20132251 (2008)","DOI":"10.1109\/ROBOT.2008.4543548"},{"issue":"4","key":"172_CR37","doi-asserted-by":"crossref","first-page":"452","DOI":"10.1016\/j.cag.2009.05.006","volume":"33","author":"J McCrae","year":"2009","unstructured":"McCrae, J., Singh, K.: Sketching piecewise clothoid curves. Comput. Graph. 33(4), 452\u2013461 (2009) doi: 10.1016\/j.cag.2009.05.006","journal-title":"Comput. Graph."},{"issue":"99","key":"172_CR38","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TSP.2013.2272552","volume":"PP","author":"M Brezak","year":"2013","unstructured":"Brezak, M., Petrovic, I.: Real-time approximation of clothoids with bounded error for path planning applications. IEEE Trans. Robot. PP(99), 1\u20139 (2013). doi: 10.1109\/TRO.2013.2283928","journal-title":"IEEE Trans. Robot."},{"issue":"5","key":"172_CR39","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1109\/38.156017","volume":"12","author":"G Farin","year":"1992","unstructured":"Farin, G.: From conics to NURBS: A tutorial and survey. IEEE Comput. Graph. Appl. 12(5), 78\u201386 (1992). doi: 10.1109\/38.156017","journal-title":"IEEE Comput. Graph. Appl."},{"issue":"1","key":"172_CR40","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1109\/38.67702","volume":"11","author":"L Piegl","year":"1991","unstructured":"Piegl, L.: On NURBS: a survey. IEEE Comput. Graph. Appl. 11(1), 55\u201371 (1991). doi: 10.1109\/38.67702","journal-title":"IEEE Comput. Graph. Appl."},{"key":"172_CR41","unstructured":"Farin, G.: Curves and Surfaces for CAGD. Computing. Morgan Kaufmann (2002)"},{"issue":"3\u20134","key":"172_CR42","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/j.robot.2003.09.007","volume":"45","author":"M Lepeti\u010d","year":"2003","unstructured":"Lepeti\u010d, M., Klan\u010dar, G., \u0160krjanc, I., Matko, D., Poto\u010dnik, B.: Time optimal path planning considering acceleration limits. Robot. Auton. Syst. 45(3\u20134), 199\u2013210 (2003). doi: 10.1016\/j.robot.2003.09.007","journal-title":"Robot. Auton. Syst."},{"issue":"1","key":"172_CR43","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1016\/j.robot.2008.03.009","volume":"57","author":"KG Jolly","year":"2009","unstructured":"Jolly, K.G., Sreerama Kumar, R., Vijayakumar, R.: A Bezier curve based path planning in a multi-agent robot soccer system without violating the acceleration limits. Robot. Auton. Syst. 57(1), 23\u201333 (2009). doi: 10.1016\/j.robot.2008.03.009","journal-title":"Robot. Auton. Syst."},{"issue":"2","key":"172_CR44","doi-asserted-by":"crossref","first-page":"112","DOI":"10.1090\/qam\/16705","volume":"4","author":"IJ Schoenberg","year":"1946","unstructured":"Schoenberg, I.J.: Contributions to the problem of approximation of equidistant data by analytic functions - b. on the problem of osculatory interpolation - a 2nd class of approximation formulae. Q. Appl. Math. 4(2), 112\u2013141 (1946)","journal-title":"Q. Appl. Math."},{"issue":"2","key":"172_CR45","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1109\/TIE.1987.350954","volume":"34","author":"SE Thompson","year":"1987","unstructured":"Thompson, S.E., Patel, R.V.: Formulation of joint trajectories for industrial robots using b-splines. IEEE Trans. Ind. Electron. 34(2), 192\u2013199 (1987). doi: 10.1109\/TIE.1987.350954","journal-title":"IEEE Trans. Ind. Electron."},{"issue":"05","key":"172_CR46","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1017\/S0263574703005009","volume":"21","author":"E Dyllong","year":"2003","unstructured":"Dyllong, E., Visioli, A.: Planning and real-time modifications of a trajectory using spline techniques. Robotica 21(05), 475\u2013482 (2003). doi: 10.1017\/S0263574703005009","journal-title":"Robotica"},{"issue":"4","key":"172_CR47","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1109\/2945.765325","volume":"4","author":"JK Hodgins","year":"1998","unstructured":"Hodgins, J.K., O\u2019Brien, J.F., Tumblin, J.: Perception of human motion with different geometric models. IEEE Trans. Vis. Comput. Graph. 4(4), 307\u2013316 (1998). doi: 10.1109\/2945.765325","journal-title":"IEEE Trans. Vis. Comput. Graph."},{"key":"172_CR48","doi-asserted-by":"crossref","unstructured":"Schmid, A.J., Woern, H.: Path planning for a humanoid using NURBS curves. In: Automation Science and Engineering, 2005. IEEE international conference on, pp. 351\u2013356 (2005)","DOI":"10.1109\/COASE.2005.1506794"},{"key":"172_CR49","doi-asserted-by":"crossref","unstructured":"Sungchul, J., Taehoon, K.: Tool-path generation for NURBS surface machining. In: American control conference, 2003. Proceedings of the 200, Vol. 2613, pp. 2614\u20132619 (2003)","DOI":"10.1109\/ACC.2003.1243471"},{"issue":"7","key":"172_CR50","doi-asserted-by":"crossref","first-page":"801","DOI":"10.1016\/S0890-6955(02)00015-9","volume":"42","author":"MY Cheng","year":"2002","unstructured":"Cheng, M.Y., Kuo, J.C.: Real-time NURBS command generators for CNC servo controllers. Int. J. Mach. Tools Manuf. 42(7), 801\u2013813 (2002) doi: 10.1016\/S0890-6955(02)00015-9","journal-title":"Int. J. Mach. Tools Manuf."},{"issue":"29\u201330","key":"172_CR51","doi-asserted-by":"crossref","first-page":"2943","DOI":"10.1016\/j.cma.2007.02.009","volume":"196","author":"Y Zhang","year":"2007","unstructured":"Zhang, Y., Bazilevs, Y., Goswami, S., Bajaj, C.L., Hughes, T.J.R.: Patient-specific vascular NURBS modeling for isogeometric analysis of blood flow. Comput. Methods Appl. Mech. Eng. 196(29\u201330), 2943\u20132959 (2007). doi: 10.1016\/j.cma.2007.02.009","journal-title":"Comput. Methods Appl. Mech. Eng."},{"issue":"12","key":"172_CR52","doi-asserted-by":"crossref","first-page":"918","DOI":"10.1007\/BF01179082","volume":"14","author":"W Ma","year":"1998","unstructured":"Ma, W., Kruth, J.P.: NURBS curve and surface fitting for reverse engineering. Int. J. Adv. Manuf. Technol. 14(12), 918\u2013927 (1998). doi: 10.1007\/BF01179082","journal-title":"Int. J. Adv. Manuf. Technol."},{"issue":"8","key":"172_CR53","doi-asserted-by":"crossref","first-page":"593","DOI":"10.1016\/S0010-4485(00)00103-2","volume":"33","author":"LA Piegl","year":"2001","unstructured":"Piegl, L.A., Tiller, W.: Parametrization for surface fitting in reverse engineering. Comput. Aided Des. 33(8), 593\u2013603 (2001). doi: 10.1016\/S0010-4485(00)00103-2","journal-title":"Comput. Aided Des."},{"issue":"49\u201350","key":"172_CR54","doi-asserted-by":"crossref","first-page":"4104","DOI":"10.1016\/j.cma.2008.04.006","volume":"197","author":"TJR Hughes","year":"2008","unstructured":"Hughes, T.J.R., Reali, A., Sangalli, G.: Duality and unified analysis of discrete approximations in structural dynamics and wave propagation: Comparison of p-method finite elements with k-method NURBS. Comput. Methods Appl. Mech. Eng. 197(49\u201350), 4104\u20134124 (2008). doi: 10.1016\/j.cma.2008.04.006","journal-title":"Comput. Methods Appl. Mech. Eng."},{"key":"172_CR55","doi-asserted-by":"crossref","unstructured":"Koyuncu, E., Inalhan, G.: A probabilistic B-spline motion planning algorithm for unmanned helicopters flying in dense 3D environments. In: Intelligent Robots and Systems, 2008. IROS 2008. IEEE\/RSJ International Conference on, pp. 815\u2013821 (2008)","DOI":"10.1109\/IROS.2008.4651122"},{"issue":"12","key":"172_CR56","first-page":"2441","volume":"8","author":"F Zhou","year":"2011","unstructured":"Zhou, F., Song, B., Tian, G.: B\u00e9zier curve based smooth path planning for mobile robot. J. Inf. Comput. Sci. 8(12), 2441\u20132450 (2011)","journal-title":"J. Inf. Comput. Sci."},{"issue":"3","key":"172_CR57","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1109\/TRO.2010.2042990","volume":"26","author":"Y Kwangjin","year":"2010","unstructured":"Kwangjin, Y., Sukkarieh, S.: An analytical continuous-curvature path-smoothing algorithm. Robot. IEEE Trans. 26(3), 561\u2013568 (2010). doi: 10.1109\/TRO.2010.2042990","journal-title":"Robot. IEEE Trans."},{"issue":"4","key":"172_CR58","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1080\/01691864.2013.755246","volume":"27","author":"Y Kwangjin","year":"2013","unstructured":"Kwangjin, Y., Jung, D., Sukkarieh, S.: Continuous curvature path-smoothing algorithm using cubic Bezier spiral curves for non-holonomic robots. Adv. Robot. 27(4), 247\u2013258 (2013). doi: 10.1080\/01691864.2013.755246","journal-title":"Adv. Robot."},{"issue":"2","key":"172_CR59","doi-asserted-by":"crossref","first-page":"453","DOI":"10.1016\/S0377-0427(03)00435-7","volume":"157","author":"DJ Walton","year":"2003","unstructured":"Walton, D.J., Meek, D.S., Ali, J.M.: Planar G2 transition curves composed of cubic B\u00e9zier spiral segments. J. Comput. Appl. Math. 157(2), 453\u2013476 (2003). doi: 10.1016\/s0377-0427(03)00435-7","journal-title":"J. Comput. Appl. Math."},{"key":"172_CR60","doi-asserted-by":"crossref","unstructured":"Huh, U.-Y., Chang, S.-R.: A G 2 continuous path-smoothing algorithm using modified quadratic polynomial interpolation. Int. J. Adv. Robot. Syst. 25(11) (2014). doi: 10.5772\/57340","DOI":"10.5772\/57340"},{"issue":"5","key":"172_CR61","doi-asserted-by":"crossref","first-page":"1089","DOI":"10.1109\/TRO.2007.903816","volume":"23","author":"A Piazzi","year":"2007","unstructured":"Piazzi, A., Bianco, C.G.L., Romano, M.: \u03b73-Splines for the smooth path generation of wheeled mobile robots. robotics-splines for the smooth path generation of wheeled mobile robots. Robot. IEEE Trans. 23(5), 1089\u20131095 (2007). doi: 10.1109\/TRO.2007.903816","journal-title":"Robot. IEEE Trans."},{"issue":"10","key":"172_CR62","doi-asserted-by":"crossref","first-page":"1155","DOI":"10.1177\/0278364912453186","volume":"31","author":"J Pan","year":"2012","unstructured":"Pan, J., Zhang, L., Manocha, D.: Collision-free and smooth trajectory computation in cluttered environments. Int. J. Robot. Res. 31(10), 1155\u20131175 (2012). doi: 10.1177\/0278364912453186","journal-title":"Int. J. Robot. Res."},{"issue":"6","key":"172_CR63","doi-asserted-by":"crossref","first-page":"898","DOI":"10.1109\/TSMCB.2002.804370","volume":"33","author":"IK Nikolos","year":"2003","unstructured":"Nikolos, I.K., Valavanis, K.P., Tsourveloudis, N.C., Kostaras, A.N.: Evolutionary algorithm based offline\/online path planner for UAV navigation. Systems, Man, and Cybernetics, Part B. Cybern. IEEE Trans. 33(6), 898\u2013912 (2003). doi: 10.1109\/TSMCB.2002.804370","journal-title":"Cybern. IEEE Trans."},{"issue":"5","key":"172_CR64","doi-asserted-by":"crossref","first-page":"1317","DOI":"10.1109\/TRO.2013.2262744","volume":"29","author":"C Guarino Lo Bianco","year":"2013","unstructured":"Guarino Lo Bianco, C.: Minimum-jerk velocity planning for mobile robot applications. Robot. IEEE Trans. 29(5), 1317\u20131326 (2013). doi: 10.1109\/TRO.2013.2262744","journal-title":"Robot. IEEE Trans."},{"key":"172_CR65","doi-asserted-by":"crossref","unstructured":"Kunz, T., Stilman, M.: Time-optimal trajectory generation for path following with bounded acceleration and velocity. Robotics: Science and Systems, p 209 (2013)","DOI":"10.15607\/RSS.2012.VIII.027"},{"issue":"2","key":"172_CR66","doi-asserted-by":"crossref","first-page":"275","DOI":"10.1007\/s10957-008-9381-7","volume":"138","author":"E Velenis","year":"2008","unstructured":"Velenis, E., Tsiotras, P.: Minimum-time travel for a vehicle with acceleration limits: theoretical analysis and receding-horizon implementation. J. Optim. Theory Appl. 138(2), 275\u2013296 (2008). doi: 10.1007\/s10957-008-9381-7","journal-title":"J. Optim. Theory Appl."},{"key":"172_CR67","doi-asserted-by":"crossref","unstructured":"Johnson, J., Hauser, K.: Optimal acceleration-bounded trajectory planning in dynamic environments along a specified path. In: Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 2035\u20132041 (2012)","DOI":"10.1109\/ICRA.2012.6225233"},{"key":"172_CR68","unstructured":"Elbanhawi, M., Simic, M., Jazar, R.: Continuous-curvature bounded trajectory planning using parametric splines. In: Frontiers in Artificial Intelligence and Applications, vol. 262, pp. 513\u2013522 (2014)"},{"issue":"5","key":"172_CR69","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1023\/A:1008801421636","volume":"2","author":"A Kelly","year":"1998","unstructured":"Kelly, A., Stentz, A.: Rough terrain autonomous mobility\u2014part 1: A theoretical analysis of requirements. Auton. Robot. 2(5), 129\u2013161 (1998). doi: 10.1023\/A:1008801421636","journal-title":"Auton. Robot."},{"key":"172_CR70","doi-asserted-by":"crossref","unstructured":"Ahmed, F., Deb, K.: Multi-objective path planning using spline representation. In: Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, pp. 1047\u20131052 (2011)","DOI":"10.1109\/ROBIO.2011.6181426"},{"issue":"1","key":"172_CR71","doi-asserted-by":"crossref","first-page":"50","DOI":"10.1016\/0021-9045(72)90080-9","volume":"6","author":"C De Boor","year":"1972","unstructured":"De Boor, C.: On calculating with B-splines. J. Appro. Theory 6(1), 50\u201362 (1972)","journal-title":"J. Appro. Theory"},{"issue":"1","key":"172_CR72","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1109\/38.45811","volume":"10","author":"BA Barsky","year":"1990","unstructured":"Barsky, B.A., Derose, T.D.: Geometric continuity of parametric curves: constructions of geometrically continuous splines. IEEE Comput. Graph. Appl. 10(1), 60\u201368 (1990). doi: 10.1109\/38.45811","journal-title":"IEEE Comput. Graph. Appl."},{"issue":"99","key":"172_CR73","first-page":"1","volume":"PP","author":"GE Jan","year":"2013","unstructured":"Jan, G.E., Sun, C.C., Tsai, W.C., Lin, T.H.: An O(n log n) Shortest Path Algorithm Based on Delaunay Triangulation, Mechatronics. IEEE\/ASME Trans. PP(99), 1\u20137 (2013). doi: 10.1109\/TMECH.2013.2252076","journal-title":"IEEE\/ASME Trans."},{"issue":"14","key":"172_CR74","doi-asserted-by":"crossref","first-page":"1613","DOI":"10.1016\/j.artint.2007.11.009","volume":"172","author":"M Likhachev","year":"2008","unstructured":"Likhachev, M., Ferguson, D., Gordon, G., Stentz, A., Thrun, S.: Anytime search in dynamic graphs. Artif. Intell. 172(14), 1613\u20131643 (2008). doi: 10.1016\/j.artint.2007.11.009","journal-title":"Artif. Intell."},{"issue":"7","key":"172_CR75","doi-asserted-by":"crossref","first-page":"1398","DOI":"10.1109\/JPROC.2006.876915","volume":"94","author":"JR Bruce","year":"2006","unstructured":"Bruce, J.R., Veloso, M.M.: Safe multirobot navigation within dynamics constraints. IEEE Proc. 94(7), 1398\u20131411 (2006). doi: 10.1109\/JPROC.2006.876915","journal-title":"IEEE Proc."},{"key":"172_CR76","doi-asserted-by":"crossref","unstructured":"LaValle, S.M.: Planning Algorithms. Cambridge University Press (2006)","DOI":"10.1017\/CBO9780511546877"},{"key":"172_CR77","unstructured":"LaValle, S.M.: Rapidly-exploring random trees: A new tool for path planning. In. Iowa state university (1998)"},{"issue":"11-12","key":"172_CR78","doi-asserted-by":"crossref","first-page":"1213","DOI":"10.1177\/0278364908097213","volume":"27","author":"R Wein","year":"2008","unstructured":"Wein, R., van den Berg, J., Halperin, D.: Planning high-quality paths and corridors amidst obstacles. Int. J. Robot. Res. 27(11-12), 1213\u20131231 (2008). doi: 10.1177\/0278364908097213","journal-title":"Int. J. Robot. Res."}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0172-0.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-014-0172-0\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-014-0172-0","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,16]],"date-time":"2025-05-16T12:55:31Z","timestamp":1747400131000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-014-0172-0"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,1,8]]},"references-count":78,"journal-issue":{"issue":"S1","published-print":{"date-parts":[[2015,12]]}},"alternative-id":["172"],"URL":"https:\/\/doi.org\/10.1007\/s10846-014-0172-0","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,1,8]]}}}