@article {bib:Choi:10b,
	title = {Piecewise Bezier Curves Path Planning with Continuous Curvature Constraint for Autonomous Driving},
	journal = {Machine Learning and Systems Engineering, Lecture Notes in Electrical Engineering 68},
	year = {2010},
	publisher = {Springer Science+Business Media B.V},
	author = {J.-W. Choi and Ren Curry and Gabriel H Elkaim}
}
