Vic Beazel, Edward Red. Inaccuracy compensation and piecewise circular approximation of parametric paths. Robotica, 11(5):413-425, 1993. [doi]
@article{BeazelR93,
title = {Inaccuracy compensation and piecewise circular approximation of parametric paths},
author = {Vic Beazel and Edward Red},
year = {1993},
doi = {10.1017/S0263574700016969},
url = {http://dx.doi.org/10.1017/S0263574700016969},
researchr = {https://researchr.org/publication/BeazelR93},
cites = {0},
citedby = {0},
journal = {Robotica},
volume = {11},
number = {5},
pages = {413-425},
}