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Path Planning Based on Parametric Curves:

Hilario Pérez, Lucía ; Mora, Marta Covadonga ; Montes Sánchez, Nicolás.
https://www.intechopen.com/books/advanced-path-planning-for-mobile-entities/path-planning-based-on-parametric-curves.  , 2019
Link: http://hdl.handle.net/10234/181422