Path planning with obstacle avoidance by G1 PH quintic splines. - Carlotta Giannelli; Duccio Mugnaini; Alessandra Sestini (Comput. Aided Des., 2016)

Curvature continuous path planning and path finding based on PH splines with tension. - Marco Donatelli; Carlotta Giannelli; Duccio Mugnaini; Alessandra Sestini (Comput. Aided Des., 2017)

C2 continuous time-dependent feedrate scheduling with configurable kinematic constraints. - Carlotta Giannelli; Duccio Mugnaini; Alessandra Sestini (Comput. Aided Geom. Des., 2018)