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This chapter provides an overview of the basic properties of NURBS curves and possible applications in the field of optimization in robotics. NURBS is an acronym that stands for Non-Uniform Rational B-splines, a class of parameterized geometric curves. For the sake of brevity, proofs are omitted in this chapter and the reader is referred to special literature such as .
KeywordsControl Point Convex Hull Maximum Degree Recursion Formula NURBS Curve
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