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Nessus was a famous centaur who was killed by Hercules. His blood in turn killed the hero. Nessus did this by tricking Deianira into spreading his blood on Hercules' shirt, telling her that it was a love potion.
The Heroes of Olympus
The Mark of Athena
Nessus is mentioned by Achelous in the book as one of Hercules' opponents.