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Smooth and collision-free trajectory generation in cluttered environments using cubic B-spline form

Geometric ModelingPath PlanningGeometric InterpolationTrajectory PlanningRoboticsEngineeringAerospace EngineeringNatural SciencesField RoboticsCubic B-spline FormCollision-free Trajectory GenerationComputer-aided DesignKinematicsComputational MechanicsCluttered EnvironmentsComputational GeometrySpline (Mathematics)Trajectory Optimization