@article{JGG_1999_3_2_a1,
     author = {C. Maeurer and B. Juettler},
     title = {Rational {Approximation} of {Rotation} {Minimizing} {Frames} {Using} {Pythagorean--Hodograph} {Cubics}},
     journal = {Journal for geometry and graphics},
     pages = {141--16},
     publisher = {mathdoc},
     volume = {3},
     number = {2},
     year = {1999},
     url = {http://geodesic.mathdoc.fr/item/JGG_1999_3_2_a1/}
}