Karsten Weihe Ulrik Brandes Annegret Liebers Matthias Müller-Hannemann Dorothea Wagner Thomas Willhalm Empirical Design of Geometric Algorithms. 86-94 1999 Symposium on Computational Geometry http://doi.acm.org/10.1145/304893.304918 db/conf/compgeom/compgeom99.html#WeiheBLMWW99