Qian-Ping Gu Hisao Tamaki Optimal Branch-Decomposition of Planar Graphs in <i>O</i>(<i>n</i><sup>3</sup>) Time. 373-384 2005 conf/icalp/2005 ICALP http://dx.doi.org/10.1007/11523468_31 db/conf/icalp/icalp2005.html#GuT05