• Continuous-Curvature Path Generation using Fermat's Spiral 

      Lekkas, Anastasios; Dahl, Andreas R; Breivik, Morten; Fossen, Thor I. (Journal article; Peer reviewed, 2013)
      This paper proposes a novel methodology, based on Fermat's spiral (FS), for constructing curvature-continuous parametric paths in a plane. FS has a zero curvature at its origin, a property that allows it to be connected ...