Point-tangent/point-normal B-spline curve interpolation by geometric algorithms. - Shuichi Gofuku; Shigefumi Tamura; Takashi Maekawa (Comput. Aided Des., 2009)

Curvature continuous path generation for autonomous vehicle using B-spline curves. - Takashi Maekawa; Tetsuya Noda; Shigefumi Tamura; Tomonori Ozaki; Ken-ichiro Machida (Comput. Aided Des., 2010)