1. Zefran, M.: Continuous methods for motion planning. PhD Thesis, University of Pennsylvania, Philadelphia (1996)
2. Zhang, J.; Knoll, A.: An enhanced optimization approach for generating smooth robot trajectories in the presence of obstacles. In: Proceedings of the European Chinese Automation Conference, pp. 263–268. London (1995)
3. Weber H.: A motion planning and execution system for mobile robots driven by stepping motors. Robotics Auton. Syst 33, 207–221 (2000)
4. Reuter, J.: Mobile robots trajectories with continuously differentiable curvature: an optimal control approach. In: Proceedings of IEEE/RSJ International Conference Intelligent Robots and System, pp. 38–43. Victoria B.C. (1998)
5. Scheuer, A.; Xie, M.: Continuous-curvature trajectory planning for maneuverable non-holonomic robots. In: Proceedings of IEEE/RSJ International Conference Intelligent Robots and System, pp. 1675–1680. Kyongju (1999)