{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,28]],"date-time":"2026-03-28T16:31:05Z","timestamp":1774715465124,"version":"3.50.1"},"reference-count":42,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2012,8,6]],"date-time":"2012-08-06T00:00:00Z","timestamp":1344211200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:p> We present a novel trajectory computation algorithm to smooth piecewise linear collision-free trajectories computed by sample-based motion planners. Our approach uses cubic B-splines to generate trajectories that are C<jats:sup>2<\/jats:sup> almost everywhere, except on a few isolated points. The algorithm performs local spline refinement to compute smooth, collision-free trajectories and it works well even in environments with narrow passages. We also present a fast and reliable algorithm for collision checking between a robot and the environment along the B-spline trajectories. We highlight the performance of our algorithm on complex benchmarks, including path computation for rigid and articulated models in cluttered environments. <\/jats:p>","DOI":"10.1177\/0278364912453186","type":"journal-article","created":{"date-parts":[[2012,8,7]],"date-time":"2012-08-07T00:46:20Z","timestamp":1344300380000},"page":"1155-1175","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":82,"title":["Collision-free and smooth trajectory computation in cluttered environments"],"prefix":"10.1177","volume":"31","author":[{"given":"Jia","family":"Pan","sequence":"first","affiliation":[{"name":"Department of Computer Science, University of North Carolina at Chapel Hill, US"}]},{"given":"Liangjun","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Stanford University, US"}]},{"given":"Dinesh","family":"Manocha","sequence":"additional","affiliation":[{"name":"Department of 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