# A Real-Time Collision Avoidance Framework of MASS Based on B-Spline and Optimal Decoupling Control

> Research article (Sensors, 2021) · cited 27× · AI/ML

**Wikidata**: [openalex:W3183339154](https://www.wikidata.org/wiki/openalex:W3183339154)  
**Source**: https://4ort.xyz/entity/a-real-time-collision-avoidance-framework-of-mass-based-on-b-spline-and-optimal-decoupling-control