@article{Wagner-Ravani-spatial-PH,
  volume = {15},
  number = {1},
  mrnumber = {MR1484259 (99b:65021)},
  issn = {0167-8396},
  author = {Wagner, Michael G. and Ravani, Bahram},
  mrclass = {65D17 (41A63)},
  fjournal = {Computer Aided Geometric Design},
  coden = {CAGDEX},
  title = {Curves with rational {F}renet-{S}erret motion},
  pages = {79--101},
  journal = {Comput. Aided Geom. Design},
  year = {1997},
}