Leonidas Linardakis Nikos Chrisochoides Algorithm 870: A static geometric Medial Axis domain decomposition in 2D Euclidean space. 2008 34 ACM Trans. Math. Softw. 1 http://doi.acm.org/10.1145/1322436.1322440 db/journals/toms/toms34.html#LinardakisC08