def normalize_knot_vector(knot_vector):
    """Returns a normalized knot vector within the [0, 1] domain.

    Parameters
    ----------
    list of float
        A knot vector

    Returns
    -------
    list of float
        The normalized knot vector.
    """
    knot_vector = [v - knot_vector[0] for v in knot_vector]
    return [v / float(knot_vector[-1]) for v in knot_vector]