Qian-Ping Gu Hisao Tamaki Optimal branch-decomposition of planar graphs in <i>O</i>(<i>n</i><sup>3</sup>) Time. 2008 4 ACM Transactions on Algorithms 3 http://doi.acm.org/10.1145/1367064.1367070 db/journals/talg/talg4.html#GuT08