Lazhu Z. Wang, Kenjiro T. Miura, Eichachiro Nakamae, Tadashi Yamamoto, Tianjun J. Wang. An approximation approach of the clothoid curve defined in the interval [0, /2] and its offset by free-form curves. Computer-Aided Design, 33(14):1049-1058, 2001. [doi]
Abstract is missing.