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Choi J.-W., Curry R, Elkaim GH.  2009.  Smooth Path Generation Based on Bézier Curves for Autonomous Vehicles. Lecture Notes in Engineering and Computer Science: Proceedings of The World Congress on Engineering and Computer Science 2009, WCECS 2009. :668–673.
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Connors J, Elkaim GH.  2008.  Trajectory Generation and Control Methodology for an Autonomous Ground Vehicle. AIAA GNC 2008.

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