@misc{indiciae2b8552cec55b,
  title = {A via-point time optimization algorithm for complex sequential trajectory formation.},
  author = {Yasuhiro Wada and Mitsuo Kawato},
  year = {2004},
  doi = {10.1016/j.neunet.2003.11.009},
  url = {https://pubmed.ncbi.nlm.nih.gov/15037353/},
  note = {Source identifier: 15037353}
}