@INPROCEEDINGS{Yang2008,
  author = {Kwangjin Yang and Sukkarieh, S.},
  title = {{3D smooth path planning for a UAV in cluttered natural environments}},
  booktitle = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International
	Conference on},
  year = {2008},
  pages = {794-800},
  month = {Sept},
  doi = {10.1109/IROS.2008.4650637},
  keywords = {aircraft control;computational complexity;mobile robots;path planning;piecewise
	linear techniques;random processes;remotely operated vehicles;trees
	(mathematics);3D smooth path planning;Clothoids method;UAV;cluttered
	natural environments;computational complexity;continuous curvature
	requirement;cubic Bezier spiral curves;path pruning algorithm;piecewise
	linear path;rapidly-exploring random trees algorithm;unmanned aerial
	vehicle;upper bounded curvature constraint;Algorithm design and analysis;Equations;Helicopters;Path
	planning;Planning;Smoothing methods;Unmanned aerial vehicles}
}

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