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An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots

Wei Dong, Ye Ding, Jie Huang, Luo Yang, Xiangyang Zhu. An optimal curvature smoothing method and the associated real-time interpolation for the trajectory generation of flying robots. Robotics and Autonomous Systems, 115:73-82, 2019. [doi]

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