Continuous curvature path-smoothing algorithm using cubic B zier spiral curves for non-holonomic robots

@article{Yang2013ContinuousCP,
  title={Continuous curvature path-smoothing algorithm using cubic B zier spiral curves for non-holonomic robots},
  author={Kwangjin Yang and Daehan Jung and Salah Sukkarieh},
  journal={Advanced Robotics},
  year={2013},
  volume={27},
  pages={247-258}
}
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