@INPROCEEDINGS{6181426,  author={Ahmed, Faez and Deb, Kalyanmoy},  booktitle={2011 IEEE International Conference on Robotics and Biomimetics},   title={Multi-objective path planning using spline representation},   year={2011},  volume={},  number={},  pages={1047-1052},  doi={10.1109/ROBIO.2011.6181426}}