Planning and real-time modifications of a trajectory using spline techniques

Despite these approaches being widely investigated, a thorough comparison, between all of them in order to point out their pros and cons and therefore to help the designer to choose the most suitable one for a given application is still lacking in the literature. [...] the aim of this paper is to provide a detailed comparison of algebraic and trigonometric splines as well as cubic B-splines from the design point of view.