Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes. - Naoki Mizuno; Kazunori Ohno; Ryunosuke Hamada; Hiroyoshi Kojima; Jun Fujita; Hisanori Amano; Thomas Westfechtel; Takahiro Suzuki; Satoshi Tadokoro (Adv. Robotics, 2019)