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Efficient (close to optimal) smooth motion computation seems difficult: rare are the research works formally including smoothness in the motion problem they consider, and comparing the motions they propose to the optimal ones. My thesis' work [5, 8] is one of those.

ISeeML proposes an easy-to-use efficient smooth steering method for car-like vehicles. Originally called SCPLS, it adopted this name easier to remember as it will be soon freely distributed. You can now:

ML does not mean here Meta-Langage, nor Machine Learning, but Motion Library.

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