Francisco Gómez Ferran Hurtado Suneeta Ramaswami Vera Sacristan Godfried T. Toussaint 57-85 2002 1 J. Math. Model. Algorithms 1 db/journals/jmma/jmma1.html#GomezHRST02 http://dx.doi.org/10.1023/A:1015626820950