# Enhanced path smoothing based on conjugate gradient descent for firefighting robots in petrochemical complexes

> Research article (Advanced Robotics, 2019) · cited 24× · AI/ML

**Wikidata**: [openalex:W2954374674](https://www.wikidata.org/wiki/openalex:W2954374674)  
**Source**: https://4ort.xyz/entity/enhanced-path-smoothing-based-on-conjugate-gradient-descent-for-firefighting-robots-in-petrochemical-complexes