@article {jung2013line,
	title = {On-line path generation for unmanned aerial vehicles using b-spline path templates},
	journal = {Journal of Guidance, Control, and Dynamics},
	volume = {36},
	year = {2013},
	pages = {1642{\textendash}1653},
	author = {Jung, Dongwon and Panagiotis Tsiotras}
}