G3 quintic polynomial approximation for Generalised Cornu Spiral segments. - Benjamin Cross 001; Robert J. Cripps (J. Comput. Appl. Math., 2012)

Efficient robust approximation of the generalised Cornu spiral. - Benjamin Cross 001; Robert J. Cripps (J. Comput. Appl. Math., 2015)

Machinability of Surfaces via Motion Analysis. - Robert J. Cripps; Benjamin Cross 001; Glen Mullineux; Mat Hunt (MMCS, 2016)

Bézier motions with end-constraints on speed. - Glen Mullineux; Robert J. Cripps; Benjamin Cross 001 (Comput. Aided Geom. Des., 2018)

Fitting a planar quadratic slerp motion. - Glen Mullineux; Robert J. Cripps; Ben Cross 001 (Comput. Aided Geom. Des., 2020)

C1 and G1 continuous rational motions using a conformal geometric algebra. - Ben Cross 001; Robert J. Cripps; Glen Mullineux (J. Comput. Appl. Math., 2022)