Splines and polynomial tools for flatness-based constrained motion planning

@article{Suryawan2012SplinesAP,
  title={Splines and polynomial tools for flatness-based constrained motion planning},
  author={Fajar Suryawan and Jos{\'e} A. De Don{\'a} and Mar{\'i}a M. Seron},
  journal={Int. J. Systems Science},
  year={2012},
  volume={43},
  pages={1396-1411}
}
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