Valentin Polishchuk Jukka Suomela Optimal Backlog in the Plane. 141-150 2008 ALGOSENSORS http://dx.doi.org/10.1007/978-3-540-92862-1_12 conf/algosensors/2008 db/conf/algosensors/algosensors2008.html#PolishchukS08