Nicolás Montés, Alvaro Herraez, Leopoldo Armesto, Josep Tornero. Real-time clothoid approximation by Rational Bezier curves. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, May 19-23, 2008, Pasadena, California, USA. pages 2246-2251, IEEE, 2008. [doi]
Abstract is missing.