Vector optimal smoothing spline curves with constraints

In this paper, we consider the problem of designing optimal smoothing vectorized spline curves with equality and/or inequality constraints. The constraints include cross-coupled constraints among the element curves. The splines are constituted employing normalized uniform B-splines as the basis functions. Then various types of constraints are formulated as linear function of the so-called control points, and the problem is reduced to convex quadratic programming problem. The performance is examined by some numerical examples.