Jae-Sook Cheong A. Frank van der Stappen Kenneth Y. Goldberg Mark H. Overmars Elon Rimon 45-70 2007 17 Int. J. Comput. Geometry Appl. 1 http://dx.doi.org/10.1142/S0218195907002240 db/journals/ijcga/ijcga17.html#CheongSGOR07