D. W. Gu, W. Kamal, I. Postletwaite, A UAV waypoint generator, AIAA 1st Intelligent Systems Technical Conference, Illinois, 2004.
 K. B. Judd, T. W. McLain, Spline based path planning for unmanned air vehicles, AIAA Guidance, Navigation, and Control Conference and Exhibit, Montreal, Canada, 2001.
 M. A. Gill, A. Y. Zomaya, A cell decomposition based collision avoidance algorithm for robot manipulators, Journal of Cybernetics and Systems, Vol. 29, No. 2, pp. 113-135, 1998.
 S. Twigg, A. Calise, E. Johnson, 3D Trajectory optimization for terrain following and terrain masking, AIAA Guidance, Navigation, and Control Conference and Exhibit, Colorado, 2006.
 I. Khademi, B. Maleki, A. N. Mood, Optimal three dimensional Terrain Following/Terrain Avoidance for aircraft using direct transcription method, Proceedings of the 19th Mediterranean Conference on Control & Automation, Corfu, Greece, IEEE, pp. 254-258, 2011.
 R. Kamyar, E. Taheri, Aircraft optimal terrain/threat-based trajectory planning and control, Journal of Guidance, Control, and Dynamics, Vol. 37, No. 2, pp. 466-483, 2014.
 S. I. Kassaei, A. R. Kosari, Aircraft trajectory planning with an altitude-bound in terrain-following flight, Modares Mechanical Engineering, Vol. 17, No. 12, pp. 135-144, 2018. (in Persian)
 A. Kosari, H. Maghsoudi, A. Lavaei, Optimal online trajectory generation for a flying robot for terrain following purposes using neural network, Journal of Aerospace Engineering, Vol. 0, No. 3, pp. 1-18, 2015.
 S. J. Asseo, Terrain following/terrain avoidance path optimization using the method of steepest descent, Proceedings of the Aerospace and Electronics Conference, Dayton OHIO, IEEE, pp. 1128-1136, 1988.
 R. Jamilnia, Development of an Online Combined Method for Trajectory Optimization, PhD Thesis, Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, 2012. (in Persian)
 O. VonStryk, Numerical Solution of Optimal Control Problems by Direct Collocation, R. Bulirsch, A. Miele, J. Stoer, K. H. Well (Eds.), Optimal Control - Calculus of Variations, pp. 129-143, Basel: Birkhauser, 1993.
 J. T. Betts, Survey of numerical methods for trajectory optimization, Journal of Guidance, Control, and Dynamics, Vol. 21, No. 2, pp. 193-207, 1998.
 R. Esmaelzadeh, R. Jamilnia, A. Adami, Optimal guidance of a reentry vehicle using a combinational method, Journal of Aerospace Mechanics, Imam Hossein University, Vol. 12, No. 4, pp. 35-48, 2016. (in Persian)
 M. Bahrami, R. Jamilnia, A. Naghash, Trajectory optimization of space manipulators with flexible links using a new approach, International Journal of Robotics, K. N. Toosi University of Technology, Vol. 1, No. 1, pp. 48-55, 2009.
 R. Jamilnia, Optimal trajectory design for soft landing on the Moon by using differential flatness, Modares Mechanical Engineering, Vol. 17, No. 10, pp. 9-19, 2017. (in Persianفارسی )
 H. Seywald, Trajectory optimization based on differential inclusion, Journal of Guidance, Control, and Dynamics, Vol. 17, No. 3, pp. 480-487, 1994.
 M. Fliess, J. Levine, P. Martin, P. Rouchon, Flatness and defect of nonlinear systems, International Journal of Control, Vol. 61, No. 6, pp. 1327-1361, 1995.
 C. De Boor, A Practical Guide to Splines, pp. 131-170, New York: Springer-Verlag, 2001.
 J. T. Betts, Practical Methods for Optimal Control and Estimation Using Nonlinear Programming, Second Edittion, pp. 91-218, Philadelphia: Society for Industrial and Applied Mathematics (SIAM), 2010.
 A. Wächter, An Interior Point Algorithm for Large Scale Nonlinear Optimization with Applications in Process Engineering, PhD thesis, Carnegie Mellon University, Pennsylvania, 2002.