@Article{jue:06e,
  author = 	 {Z.\ \v{S}\'\i r and R.\ Feichtinger and B.\ J\"uttler},
  title = 	 {Approximating Curves and Their Offsets using Biarcs and {P}ythagorean Hodograph Quintics},
  journal = 	 {Comp.--Aided Design},
  year = 	 {2006},
  volume =       {38},
  pages =        {608--618}
}