Automatic Path and Trajectory Planning for Robotic Spray Painting. - Alessandro Gasparetto; Renato Vidoni; Daniele Pillan; Ennio Saccavini (ROBOTIK, 2012)

An approach based on B-spline quaternion curves for planning the orientation trajectories of spray-painting robots. - Andrea Vegnaduzzo; Lorenzo Scalera; Daniele Pillan; Alessandro Gasparetto (Adv. Robotics, 2025)