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In this paper we address the problem of finding a geodesic curve that best fits a given set of time-labeled points on a sphere. Since the corresponding normal equations are highly non-linear, we formulate the problem as a constrained nonlinear optimization problem and solve it using the routine fmincon from MATLAB with the SQP (Sequential Quadratic Programming) algorithm.doi:10.1080/00207160.2014.884277 fatcat:mep4iabihvhahfvythc4fxpoae