@Article{jue:05g,
  author = 	 {Z. \v{S}\'{\i}r and B. J\"uttler},
  title = 	 {{E}uclidean and {M}inkowski {P}ythagorean hodograph curves over planar cubics},
  journal = 	 {Comp.\ Aided Geom.\ Design},
  year = 	 {2005},
  volume = {22},
  pages ={753--770}
}