As part of a robotics project (autonomous container trucks Rotterdam harbour), we described trajectories as B-splines, rather than circular arcs/beziers. The ma

As part of a robotics project (autonomous container trucks Rotterdam harbour), we described trajectories as B-splines, rather than circular arcs/beziers. The main advantages were that: * they allow easy fitting to exact points (important when avoiding collisions) * they have nice 1st and 2nd order derivative properties (which translate to smooth acceleration and jerk putting less strain on motors and servos, compared to arc-arc or arc-straigh line) (Entirely different application than game design, but yes — splines are probably closer to reality than arcs)