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How to select control points for B-spline smoothing?

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YAAQOB AL-JAMALI
YAAQOB AL-JAMALI 2022-1-24
I have an initial path that resulted from RRT-connect algorithm in the form (xi,yi) and i want to smooth it using B-spline algorithm. The question is "Shall i consider all the returned (xi,yi) values as control points or shall i choose some? and if the second what are the criteria to choose some waypoints as control points and not the others?

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