Limitation of cubic curve interpolation

• - Only \(C^1\), but not \(C^2\) at junctions : Curvature/acceleration discontinuity

• • - Force \(C^2\) continuity for cubic polynomial (global linear system to solve - loose local structure)
  • - Consider higher degree polynomial

• - Non constant speed along each polynomial

• • - Reparametrization with curvilinear length