Ashraf Elnagar, Anup Basu. Piecewise smooth and safe trajectory planning. Robotica, 12(4):299-307, 1994. [doi]
@article{ElnagarB94,
title = {Piecewise smooth and safe trajectory planning},
author = {Ashraf Elnagar and Anup Basu},
year = {1994},
doi = {10.1017/S026357470001732X},
url = {http://dx.doi.org/10.1017/S026357470001732X},
researchr = {https://researchr.org/publication/ElnagarB94},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {12},
number = {4},
pages = {299-307},
}