1. The use of clothoid templates in highway design;Baass;Transportation Forum,1984
2. The highway spiral for combining curves of different radii;Hartman;Trans. Amer. Soc. Civil Engin.,1957
3. Rational approximations for the Fresnel integrals;Heald;Math. Comp.,1985
4. Bounding the curvature of cubic B-spline curve segments;Meek;Computer Vision, Graphics and Image Processing,1988
5. Nonlinear splines;Mehlum,1974