Cubic Pythagorean hodograph spline curves and applications to sweep surface modeling

@article{Jttler1999CubicPH,
  title={Cubic Pythagorean hodograph spline curves and applications to sweep surface modeling},
  author={Bert J{\"u}ttler and Christoph M{\"a}urer},
  journal={Computer-Aided Design},
  year={1999},
  volume={31},
  pages={73-83}
}