Rotation-minimizing Euler-Rodrigues rigid-body motion interpolants. - Rida T. Farouki; Chang Yong Han; Petroula Dospra; Takis Sakkalis (Comput. Aided Geom. Des., 2013)

Scalar-vector algorithm for the roots of quadratic quaternion polynomials, and the characterization of quintic rational rotation-minimizing frame curves. - Rida T. Farouki; Petroula Dospra; Takis Sakkalis (J. Symb. Comput., 2013)