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- Rethinking Quaternions: Theory and Computation,, Synthesis Lectures on Computer Graphics and Animation, ed. Brian A. Barsky, No. 13, San Rafael: Morgan & Claypool Publishers, 2010.
- An Integrated Introduction to Computer Graphics and Geometric Modeling, CRC Press, Taylor and Francis, New York, 2009.
- Geometric Modeling, Dagstuhl 2002, S. Hahmann, G. Brunnett, G. Farin, and R. Goldman (eds.), Springer-Verlag, 2004.
- Topics in Algebraic Geometry and Geometric Modeling, co-edited with R. Krasauskas, AMS Contemporary Mathematics, Vol. 334, 2003.
- Pyramid Algorithms: A Dynamic Programming Approach to Curves and Surfaces for Geometric Modeling, Morgan Kaufmann Publishers, Academic Press, San Diego, 2002.
- Knot Insertion and Deletion Algorithms for B-spline Curves and Surfaces, co-edited with Tom Lyche, SIAM, 1993.