Berthold K. P. Horn. The Curve of Least Energy. ACM Transactions on Mathematical Software, 9(4):441-460, 1983. [doi]
@article{Horn83-0, title = {The Curve of Least Energy}, author = {Berthold K. P. Horn}, year = {1983}, doi = {10.1145/356056.356061}, url = {http://doi.acm.org/10.1145/356056.356061}, researchr = {https://researchr.org/publication/Horn83-0}, cites = {0}, citedby = {0}, journal = {ACM Transactions on Mathematical Software}, volume = {9}, number = {4}, pages = {441-460}, }