LI, Jie; DENG, Liying. Application of Improved B-Spline in Trajectory Planning for Cleaning Robots. International Core Journal of Engineering, [S. l.], v. 11, n. 12, p. 218–231, 2025. DOI: 10.6919/ICJE.202512_11(12).0023. Disponível em: https://icj-e.org/index.php/ojs/article/view/197. Acesso em: 6 jul. 2026.