##
On the Geometry of Piecewise Circular Curves

by Thomas F. Banchoff and Peter Giblin

A *piecewise circular* (PC) curve consists of a finite number
of circular arcs such that the endpoint of each in the starting
point of the next. If the directed tangent line varies continuously
along the PC curve, it is said to be *smooth*.

PC curves arise in a variety of applications in robotics, engineering,
and mathematics, mainly because of the elegant properties that
PC curves possess. For instance, since the outward parallel curve
of a circle is a circle, the outward parallel curve of a PC is
another PC curve. PC curves also arise as the solutions to
various length and area optimization problems.