Tubes (Progress in Mathematics)

This book expresses the full understanding of Weyl's formula for the volume of a tube, its roots and its implications. Historical notes and Mathematica drawings have been added to this revised second edition.

From the reviews:

"Will do much to make Weyl's tube formula more accessible to modern readers.... A high point is the presentation of estimates for the volumes of tubes in ambient Riemannian manifolds whose curvature is bounded above or below."

--BULLETIN OF THE AMS