A Software Tool for Teaching the Homotopy-Based Path Planning Method for Mobile Robot Applications. - G. Diaz-Arango; Héctor Vázquez-Leal; Z. Ortiz-Viveros; Luz Hernández-Martínez; A. Jaramillo Alvarado; Y. Preciado-Quintero; E. Duran-Toyo; D. Sanchez-Casarrubias (CCE, 2023)