It's actually fairly readable compared to many of the other papers on clothoids:

A control polyline for a clothoid spline is introduced by replacing each parabolic segment by a pair of clothoids joined at their point of highest curvature such that continuity of the unit tangent vector and curvature are preserved at the join. The clothoid is less flexible

than a polynomial curve, so in some cases a straight line segment is appended to the clothoid pair along the longer adjacent edge of its corresponding control vertex.

A control polyline for a clothoid spline is introduced by replacing each parabolic segment by a pair of clothoids joined at their point of highest curvature such that continuity of the unit tangent vector and curvature are preserved at the join. The clothoid is less flexible

than a polynomial curve, so in some cases a straight line segment is appended to the clothoid pair along the longer adjacent edge of its corresponding control vertex.

and so on ...

It was published in Computers & Graphics 29, pages 353–363.

You could also have a look at Raph Leviens' Spiro[^] which converts clothoids into béziers. (I knew I had seen something like this before, it just took a while before I remembered where ... )

Best regards

Espen Harlinn

http://www.codeproject.com/Articles/457985/WPF-Drawing-Canvas-Control

It is normally used to draw roads and trainstreaches, so I thought Id use it and try it out. IT basically creates a smooth increse in acclereration along the curve, so it is a preferred construction technique.