1. Kanayama Y, Miyake N. Trajectory generation for mobile robots. In: Proceedings of the International Symposium on Robotics Research. 1985. p. 6–23.
2. Kanayama Y., Hartman B.I.. Smooth local path planning for autonomous vehicles. In: Proceedings of the International Conference on Robotics and Automation, vol. 3. 1989. p.1265–1270.
3. Wan TR, Chen H, Earnshaw RA. A motion constrained dynamic path planning algorithm for multi-agent simulations. In: Proceedings of WSCG’2005. 2005. p. 211–218.
4. Nelson W. Continuous-curvature paths for autonomous vehicles. In: Proceedings of the IEEE International Conference on Robotics and Automation. 1989. p. 1260–1264.
5. Smooth motion planning for car-like vehicles;Lamiraux;IEEE Transactions on Robotics and Automation,2001