Joon-Kyung Seong Elaine Cohen Gershon Elber Voronoi diagram computations for planar NURBS curves. 67-77 2008 Symposium on Solid and Physical Modeling http://doi.acm.org/10.1145/1364901.1364913 conf/sma/2008 db/conf/sma/spm2008.html#SeongCE08