*6.3. Path Generation—Approximating the Point Cloud with a Parametric Curve*

In order to have a suitable representation of a path that the proposed controllers can follow, it is a requirement to generate a curve that is smooth and at least <sup>C</sup>2. In order to fulfil this requirement, the ordered set of points produced previously can be approximated by non-clamped uniform cubic B-splines, composed of multiple spline segments, where each segment is paramaterised by *γ* ∈ [0, 1).
