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City Spline / Beijing / Retraction / San Diego / / Company CRC Press / Academic Press Professional Inc. / Cox / Cambridge University Press / / Country United States / China / / / Facility University of North Carolina / Chapel Hill / / IndustryTerm linear shortcut algorithms / optimization-based smoothing algorithms / trajectory computation algorithm / minimum-energy paths / collision-checking algorithm / physical robotic systems / collision detection algorithms / virtual prototyping applications / trajectory smoothing algorithm / car seat / plm applications / robotic systems / spline-based shortcut algorithm / continuous collision detection algorithm / spline continuous collision detection algorithm / overall smoothing algorithm / collision checking algorithm / spline-based smoothing algorithm / spline smoothing algorithm / prior shortcut algorithms / linear shortcut algorithm / local refinement algorithm / modification algorithms / prior exact algorithms / simplest algorithms / shortcut algorithms / curvature-continuous trajectory computation algorithm / sample-based motion planning algorithms / overall algorithm / analytical continuous-curvature pathsmoothing algorithm / linear shortcut smoothing algorithm / search space / using linear shortcut smoothing algorithm / / NaturalFeature Chapel Hill / / Organization Cambridge University / National Science Foundation / University of North Carolina / Computing Research Association / U.S. Securities and Exchange Commission / Stanford University / / Person Li / Dinesh Manocha / / Position sample-based planner / original sample-based planner / sample-based motion planner / path planner / planner / / Product Fig 2 / / PublishedMedium ACM Transactions on Graphics / Computer Graphics / / Technology alpha / linear shortcut algorithm / Our algorithm / collision checking algorithm / local refinement algorithm / overall algorithm / spline-based algorithm / NTRODUCTION Sample-based planning algorithms / prior CCD algorithms / spline smoothing algorithm / trajectory computation algorithm / analytical continuous-curvature pathsmoothing algorithm / trajectory smoothing algorithm / overall smoothing algorithm / CCD algorithms / B-spline smoothing algorithms / prior linear shortcut algorithms / spline-based shortcut algorithm / collision-checking algorithm / curvature-continuous trajectory computation algorithm / linear shortcut smoothing algorithm / SCD algorithm / continuous collision detection algorithm / exponential map Algorithm / simplest algorithms / prior shortcut algorithms / modification algorithms / optimization-based smoothing algorithms / smoothing algorithm / collision detection algorithms / spline-based smoothing algorithm / shortcut algorithms / de Boor algorithm / spline continuous collision detection algorithm / sample-based motion planning algorithms / CAD / / URL http / SocialTag 
Collision-Free and Curvature-Continuous Path Smoothing in Cluttered Environments Jia Pan 1 ,