Geometric Splines and Interpolation on S2: Numerical Experiments. - Knut Hüper; Yueshi Shen; Fatima Silva Leite (CDC, 2006)

Smooth Interpolation of Orientation by Rolling and Wrapping for Robot Motion Planning. - Yueshi Shen; Knut Hüper; Fatima Silva Leite (ICRA, 2006)