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ORCIDDan Halperin
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- affiliation: Tel Aviv University, Israel
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2020 – today
- 2023
[j79]Dan Halperin, Marc J. van Kreveld, Golan Miglioli-Levy, Micha Sharir:
Space-Aware Reconfiguration. Discret. Comput. Geom. 69(4): 1157-1194 (2023)- [j78]Michal Kleinbort
, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin:
Corrections to "Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation". IEEE Robotics Autom. Lett. 8(2): 1149-1150 (2023) - [c98]Mikkel Abrahamsen, Tzvika Geft, Dan Halperin, Barak Ugav:
Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity. AAMAS 2023: 932-940 - [i51]Mikkel Abrahamsen, Tzvika Geft, Dan Halperin, Barak Ugav:
Coordination of Multiple Robots along Given Paths with Bounded Junction Complexity. CoRR abs/2303.00745 (2023) - 2022
- [j77]Dan Halperin, Sariel Har-Peled, Kurt Mehlhorn, Eunjin Oh, Micha Sharir:
The Maximum-Level Vertex in an Arrangement of Lines. Discret. Comput. Geom. 67(2): 439-461 (2022) - [j76]Nir Goren, Efi Fogel, Dan Halperin:
Area Optimal Polygonization Using Simulated Annealing. ACM J. Exp. Algorithmics 27: 2.3:1-2.3:17 (2022) - [j75]Pankaj K. Agarwal, Ravid Cohen, Dan Halperin, Wolfgang Mulzer:
Maintaining the Union of Unit Discs under Insertions with Near-Optimal Overhead. ACM Trans. Algorithms 18(3): 26:1-26:27 (2022) - [c97]Tzvika Geft, Dan Halperin:
Refined Hardness of Distance-Optimal Multi-Agent Path Finding. AAMAS 2022: 481-488 - [c96]Bahareh Banyassady, Mark de Berg, Karl Bringmann, Kevin Buchin, Henning Fernau, Dan Halperin, Irina Kostitsyna, Yoshio Okamoto, Stijn Slot:
Unlabeled Multi-Robot Motion Planning with Tighter Separation Bounds. SoCG 2022: 12:1-12:16 - [c95]Pankaj K. Agarwal, Tzvika Geft, Dan Halperin, Erin Taylor:
Multi-Robot Motion Planning for Unit Discs with Revolving Areas. ISAAC 2022: 35:1-35:20 - [i50]Nir Goren, Efi Fogel, Dan Halperin:
CGAL Made More Accessible. CoRR abs/2202.13889 (2022) - [i49]Tzvika Geft, Dan Halperin:
Refined Hardness of Distance-Optimal Multi-Agent Path Finding. CoRR abs/2203.07416 (2022) - [i48]Bahareh Banyassady, Mark de Berg, Karl Bringmann, Kevin Buchin, Henning Fernau, Dan Halperin, Irina Kostitsyna, Yoshio Okamoto, Stijn Slot:
Unlabeled Multi-Robot Motion Planning with Tighter Separation Bounds. CoRR abs/2205.07777 (2022) - [i47]Dan Halperin, Steven M. LaValle, Barak Ugav:
Localization with Few Distance Measurements. CoRR abs/2209.04838 (2022) - [i46]Pankaj K. Agarwal, Tzvika Geft, Dan Halperin, Erin Taylor:
Multi-Robot Motion Planning for Unit Discs with Revolving Areas. CoRR abs/2210.00123 (2022) - 2021
- [j74]Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin:
Fast, High-Quality Two-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. IEEE Trans Autom. Sci. Eng. 18(3): 888-901 (2021) - [c94]Dan Halperin, Micha Sharir, Itay Yehuda:
Throwing a Sofa Through the Window. SoCG 2021: 41:1-41:16 - [c93]Dror Dayan, Kiril Solovey, Marco Pavone, Dan Halperin:
Near-Optimal Multi-Robot Motion Planning with Finite Sampling. ICRA 2021: 9190-9196 - [c92]Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, Dan Halperin:
On Two-Handed Planar Assembly Partitioning with Connectivity Constraints. SODA 2021: 1740-1756 - [c91]Dan Halperin, Marc J. van Kreveld, Golan Miglioli-Levy, Micha Sharir:
Space-Aware Reconfiguration. WAFR 2021: 37-53 - [c90]Tom Tsabar, Efi Fogel, Dan Halperin:
Optimized Synthesis of Snapping Fixtures. WAFR 2021: 143-158 - [i45]Dan Halperin, Micha Sharir, Itay Yehuda:
Throwing a Sofa Through the Window. CoRR abs/2102.04262 (2021) - [i44]Tzvika Geft, Dan Halperin:
On the Complexity of a Family of Decoupled Multi-Robot Motion Planning Problems. CoRR abs/2104.07011 (2021) - 2020
- [j73]Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris:
dRRT*: Scalable and informed asymptotically-optimal multi-robot motion planning. Auton. Robots 44(3-4): 443-467 (2020) - [c89]Michal Kleinbort, Edgar Granados, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin:
Refined Analysis of Asymptotically-Optimal Kinodynamic Planning in the State-Cost Space. ICRA 2020: 6344-6350 - [i43]Dan Halperin, Sariel Har-Peled, Kurt Mehlhorn, Eunjin Oh, Micha Sharir:
The Maximum-Level Vertex in an Arrangement of Lines. CoRR abs/2003.00518 (2020) - [i42]Nir Goren, Dan Halperin, Sivan Toledo:
Geometric Sparsification of Closeness Relations: Eigenvalue Clustering for Computing Matrix Functions. CoRR abs/2003.11914 (2020) - [i41]Dan Halperin, Marc J. van Kreveld, Golan Miglioli-Levy, Micha Sharir:
Space-Aware Reconfiguration. CoRR abs/2006.04402 (2020) - [i40]Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CoRR abs/2009.09408 (2020) - [i39]Pankaj K. Agarwal, Boris Aronov, Tzvika Geft, Dan Halperin:
On Two-Handed Planar Assembly Partitioning. CoRR abs/2009.12369 (2020) - [i38]Dror Dayan, Kiril Solovey, Marco Pavone, Dan Halperin:
Near-Optimal Multi-Robot Motion Planning with Finite Sampling. CoRR abs/2011.08944 (2020)
2010 – 2019
- 2019
- [j72]Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin:
Probabilistic Completeness of RRT for Geometric and Kinodynamic Planning With Forward Propagation. IEEE Robotics Autom. Lett. 4(2): 277-283 (2019) - [c88]Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CASE 2019: 1603-1610 - [c87]Pankaj K. Agarwal, Ravid Cohen, Dan Halperin, Wolfgang Mulzer:
Maintaining the Union of Unit Discs Under Insertions with Near-Optimal Overhead. SoCG 2019: 26:1-26:15 - [i37]Pankaj K. Agarwal, Ravid Cohen, Dan Halperin, Wolfgang Mulzer:
Dynamic Maintenance of the Lower Envelope of Pseudo-Lines. CoRR abs/1902.09565 (2019) - [i36]Rahul Shome, Kiril Solovey, Andrew Dobson, Dan Halperin, Kostas E. Bekris:
dRRT*: Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning. CoRR abs/1903.00994 (2019) - [i35]Pankaj K. Agarwal, Ravid Cohen, Dan Halperin, Wolfgang Mulzer:
Maintaining the Union of Unit Discs under Insertions with Near-Optimal Overhead. CoRR abs/1903.10943 (2019) - [i34]Ravid Cohen, Yossi Yovel, Dan Halperin:
Sensory Regimes of Effective Distributed Searching without Leaders. CoRR abs/1904.02895 (2019) - [i33]Michal Kleinbort, Kiril Solovey, Riccardo Bonalli, Kostas E. Bekris, Dan Halperin:
RRT2.0 for Fast and Optimal Kinodynamic Sampling-Based Motion Planning. CoRR abs/1909.05569 (2019) - [i32]Tom Tsabar, Efi Fogel, Dan Halperin:
Optimized Synthesis of Snapping Fixtures. CoRR abs/1909.05953 (2019) - 2018
- [j71]Alon Baram, Efi Fogel, Dan Halperin, Michael Hemmer, Sebastian Morr:
Exact Minkowski sums of polygons with holes. Comput. Geom. 73: 46-56 (2018) - [j70]Kiril Solovey, Oren Salzman, Dan Halperin:
New perspective on sampling-based motion planning via random geometric graphs. Int. J. Robotics Res. 37(10) (2018) - [j69]Aviel Atias, Kiril Solovey, Oren Salzman, Dan Halperin:
Effective metrics for multi-robot motion-planning. Int. J. Robotics Res. 37(13-14) (2018) - [c86]Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin:
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. WAFR 2018: 778-795 - [c85]Israela Solomon, Dan Halperin:
Motion Planning for Multiple Unit-Ball Robots in \(\mathbb {R}^{{\varvec{d}}}\). WAFR 2018: 799-816 - [i31]Israela Solomon, Dan Halperin:
Motion Planning for Multiple Unit-Ball Robots in ℝd. CoRR abs/1807.05428 (2018) - [i30]Michal Kleinbort, Kiril Solovey, Zakary Littlefield, Kostas E. Bekris, Dan Halperin:
Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation. CoRR abs/1809.07051 (2018) - [i29]Rahul Shome, Kiril Solovey, Jingjin Yu, Kostas E. Bekris, Dan Halperin:
Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. CoRR abs/1810.12202 (2018) - 2017
- [c84]Prosenjit Bose, Dan Halperin, Shahar Shamai:
On the separation of a polyhedron from its single-part mold. CASE 2017: 61-66 - [c83]Kiril Solovey, Dan Halperin:
Efficient sampling-based bottleneck pathfinding over cost maps. IROS 2017: 2003-2009 - [c82]Andrew Dobson, Kiril Solovey, Rahul Shome, Dan Halperin, Kostas E. Bekris:
Scalable asymptotically-optimal multi-robot motion planning. MRS 2017: 120-127 - [c81]Aviel Atias, Kiril Solovey, Dan Halperin:
Effective Metrics for Multi-Robot Motion-Planning. Robotics: Science and Systems 2017 - [i28]Aviel Atias, Kiril Solovey, Dan Halperin:
Effective Metrics for Multi-Robot Motion-Planning. CoRR abs/1705.10300 (2017) - [i27]Andrew Dobson, Kiril Solovey, Rahul Shome, Dan Halperin, Kostas E. Bekris:
Scalable Asymptotically-Optimal Multi-Robot Motion Planning. CoRR abs/1706.09932 (2017) - [i26]Prosenjit Bose, Dan Halperin, Shahar Shamai:
On the Separation of a Polyhedron from Its Single-Part Mold. CoRR abs/1708.04203 (2017) - 2016
- [j68]Michael Hemmer, Michal Kleinbort, Dan Halperin:
Optimal randomized incremental construction for guaranteed logarithmic planar point location. Comput. Geom. 58: 110-123 (2016) - [j67]Kiril Solovey, Oren Salzman, Dan Halperin:
Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning. Int. J. Robotics Res. 35(5): 501-513 (2016) - [j66]Kiril Solovey, Dan Halperin:
On the hardness of unlabeled multi-robot motion planning. Int. J. Robotics Res. 35(14): 1750-1759 (2016) - [j65]Oren Salzman, Kiril Solovey, Dan Halperin:
Motion Planning for Multilink Robots by Implicit Configuration-Space Tiling. IEEE Robotics Autom. Lett. 1(2): 760-767 (2016) - [j64]Oren Salzman, Dan Halperin:
Asymptotically Near-Optimal RRT for Fast, High-Quality Motion Planning. IEEE Trans. Robotics 32(3): 473-483 (2016) - [c80]Kiril Solovey, Dan Halperin:
Sampling-Based Bottleneck Pathfinding with Applications to Fréchet Matching. ESA 2016: 76:1-76:16 - [c79]Kiril Solovey, Oren Salzman, Dan Halperin:
New perspective on sampling-based motion planning via random geometric graphs. Robotics: Science and Systems 2016 - [c78]Michal Kleinbort, Oren Salzman, Dan Halperin:
Collision Detection or Nearest-Neighbor Search? On the Computational Bottleneck in Sampling-based Motion Planning. WAFR 2016: 624-639 - [r4]Dan Halperin:
Engineering Geometric Algorithms. Encyclopedia of Algorithms 2016: 634-638 - [i25]Kiril Solovey, Oren Salzman, Dan Halperin:
New perspective on sampling-based motion planning via random geometric graphs. CoRR abs/1602.05460 (2016) - [i24]Kiril Solovey, Dan Halperin:
Sampling-based bottleneck pathfinding with applications to Frechet matching. CoRR abs/1607.02770 (2016) - [i23]Michal Kleinbort, Oren Salzman, Dan Halperin:
Collision detection or nearest-neighbor search? On the computational bottleneck in sampling-based motion planning. CoRR abs/1607.04800 (2016) - [i22]Kiril Solovey, Dan Halperin:
Efficient sampling-based bottleneck pathfinding over cost maps. CoRR abs/1608.00261 (2016) - 2015
- [j63]Oren Salzman, Michael Hemmer, Dan Halperin:
On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages. IEEE Trans Autom. Sci. Eng. 12(2): 529-538 (2015) - [j62]Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey:
Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons. IEEE Trans Autom. Sci. Eng. 12(4): 1309-1317 (2015) - [c77]Ronald van Zon, Diego Escudero, Dan Halperin, Igor Jovanovic, Raffaelle Vito, Rodrigo I. Silveira, Kevin Buchin:
Real-time collision detection for multiple packaging robots using monotonicity of configuration subspaces. CASE 2015: 1638-1643 - [c76]Alon Baram, Efi Fogel, Dan Halperin, Michael Hemmer, Sebastian Morr:
Exact Minkowski Sums of Polygons With Holes. ESA 2015: 71-82 - [c75]Dan Halperin, Michael Kerber, Doron Shaharabani:
The Offset Filtration of Convex Objects. ESA 2015: 705-716 - [c74]Michal Kleinbort, Oren Salzman, Dan Halperin:
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors. ICRA 2015: 2985-2990 - [c73]Oren Salzman, Dan Halperin:
Optimal motion planning for a tethered robot: Efficient preprocessing for fast shortest paths queries. ICRA 2015: 4161-4166 - [c72]Oren Salzman, Dan Halperin:
Asymptotically-optimal Motion Planning using lower bounds on cost. ICRA 2015: 4167-4172 - [c71]Kiril Solovey, Dan Halperin:
On the hardness of unlabeled multi-robot motion planning. Robotics: Science and Systems 2015 - [c70]Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin:
Motion Planning for Unlabeled Discs with Optimality Guarantees. Robotics: Science and Systems 2015 - [i21]Alon Baram, Efi Fogel, Michael Hemmer, Dan Halperin, Sebastian Morr:
Exact Minkowski Sums of Polygons With Holes. CoRR abs/1502.06195 (2015) - [i20]Kiril Solovey, Jingjin Yu, Or Zamir, Dan Halperin:
Motion Planning for Unlabeled Discs with Optimality Guarantees. CoRR abs/1504.05218 (2015) - [i19]Oren Salzman, Kiril Solovey, Dan Halperin:
Motion Planning for Multi-Link Robots by Implicit Configuration-Space Tiling. CoRR abs/1504.06631 (2015) - 2014
- [j61]Kiril Solovey, Dan Halperin:
k-color multi-robot motion planning. Int. J. Robotics Res. 33(1): 82-97 (2014) - [j60]Oren Salzman, Doron Shaharabani, Pankaj K. Agarwal, Dan Halperin:
Sparsification of motion-planning roadmaps by edge contraction. Int. J. Robotics Res. 33(14): 1711-1725 (2014) - [c69]Oren Salzman, Dan Halperin:
Asymptotically near-optimal RRT for fast, high-quality, motion planning. ICRA 2014: 4680-4685 - [c68]Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey:
Efficient Multi-robot Motion Planning for Unlabeled Discs in Simple Polygons. WAFR 2014: 1-17 - [c67]Kiril Solovey, Oren Salzman, Dan Halperin:
Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-robot Motion Planning. WAFR 2014: 591-607 - [i18]Oren Salzman, Dan Halperin:
Asymptotically Near-Optimal Motion Planning using Lower Bounds on Cost. CoRR abs/1403.7714 (2014) - [i17]Dan Halperin, Michael Kerber, Doron Shaharabani:
The Offset Filtration of Convex Objects. CoRR abs/1407.6132 (2014) - [i16]Kiril Solovey, Dan Halperin:
PSPACE-hardness of unlabeled motion planning and variants. CoRR abs/1408.2260 (2014) - [i15]Michal Kleinbort, Oren Salzman, Dan Halperin:
Efficient high-quality motion planning by fast all-pairs r-nearest-neighbors. CoRR abs/1409.8112 (2014) - [i14]Michael Hemmer, Michal Kleinbort, Dan Halperin:
Optimal randomized incremental construction for guaranteed logarithmic planar point location. CoRR abs/1410.5602 (2014) - 2013
- [j59]Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin:
Motion Planning via Manifold Samples. Algorithmica 67(4): 547-565 (2013) - [j58]Efi Fogel, Dan Halperin:
Polyhedral Assembly Partitioning With Infinite Translations or The Importance of Being Exact. IEEE Trans Autom. Sci. Eng. 10(2): 227-241 (2013) - [c66]Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin:
Sparsification of motion-planning roadmaps by edge contraction. ICRA 2013: 4098-4105 - [i13]Kiril Solovey, Oren Salzman, Dan Halperin:
Finding a Needle in an Exponential Haystack: Discrete RRT for Exploration of Implicit Roadmaps in Multi-Robot Motion Planning. CoRR abs/1305.2889 (2013) - [i12]Oren Salzman, Dan Halperin:
Asymptotically near-optimal RRT for fast, high-quality, motion planning. CoRR abs/1308.0189 (2013) - [i11]Aviv Adler, Mark de Berg, Dan Halperin, Kiril Solovey:
Efficient Multi-Robot Motion Planning for Unlabeled Discs in Simple Polygons. CoRR abs/1312.1038 (2013) - 2012
- [b1]Efi Fogel, Dan Halperin, Ron Wein:
CGAL Arrangements and Their Applications - A Step-by-Step Guide. Geometry and Computing 7, Springer 2012, ISBN 978-3-642-17282-3, pp. I-XIX, 1-293 - [j57]Eric Berberich, Dan Halperin, Michael Kerber, Roza Pogalnikova:
Deconstructing Approximate Offsets. Discret. Comput. Geom. 48(4): 964-989 (2012) - [j56]Guy E. Blelloch, Dan Halperin:
Introduction to special issue ALENEX'10. ACM J. Exp. Algorithmics 17(1) (2012) - [c65]Efi Fogel, Michael Hemmer, Asaf Porat, Dan Halperin:
Lines through Segments in 3D Space. ESA 2012: 455-466 - [c64]Michael Hemmer, Michal Kleinbort, Dan Halperin:
Improved Implementation of Point Location in General Two-Dimensional Subdivisions. ESA 2012: 611-623 - [c63]Kiril Solovey, Dan Halperin:
k-Color Multi-robot Motion Planning. WAFR 2012: 191-207 - [c62]Oren Salzman, Michael Hemmer, Dan Halperin:
On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages. WAFR 2012: 313-329 - [i10]Oren Salzman, Michael Hemmer, Dan Halperin:
On the Power of Manifold Samples in Exploring Configuration Spaces and the Dimensionality of Narrow Passages. CoRR abs/1202.5249 (2012) - [i9]Kiril Solovey, Dan Halperin:
k-Color Multi-Robot Motion Planning. CoRR abs/1202.6174 (2012) - [i8]Michael Hemmer, Michal Kleinbort, Dan Halperin:
Improved Implementation of Point Location in General Two-Dimensional Subdivisions. CoRR abs/1205.5434 (2012) - [i7]Doron Shaharabani, Oren Salzman, Pankaj K. Agarwal, Dan Halperin:
Sparsification of Motion-Planning Roadmaps by Edge Contraction. CoRR abs/1209.4463 (2012) - 2011
- [j55]Dan Halperin, Kurt Mehlhorn:
Guest Editorial: Selected Papers from European Symposium on Algorithms. Algorithmica 60(1): 1-2 (2011) - [j54]Naama Mayer, Efi Fogel, Dan Halperin:
Fast and robust retrieval of Minkowski sums of rotating convex polyhedra in 3-space. Comput. Aided Des. 43(10): 1258-1269 (2011) - [j53]Barak Raveh, Angela Enosh, Dan Halperin:
A Little More, a Lot Better: Improving Path Quality by a Path-Merging Algorithm. IEEE Trans. Robotics 27(2): 365-371 (2011) - [c61]Eric Berberich, Dan Halperin, Michael Kerber, Roza Pogalnikova:
Deconstructing approximate offsets. SCG 2011: 187-196 - [c60]Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin:
Motion Planning via Manifold Samples. ESA 2011: 493-505 - [i6]Oren Salzman, Michael Hemmer, Barak Raveh, Dan Halperin:
Motion Planning via Manifold Samples. CoRR abs/1107.0803 (2011) - [i5]Eric Berberich, Dan Halperin, Michael Kerber, Roza Pogalnikova:
Deconstructing Approximate Offsets. CoRR abs/1109.2158 (2011) - 2010
- [j52]Eitan Yaffe, Dan Halperin:
Approximating the Pathway Axis and the Persistence Diagrams for a Collection of Balls in 3-Space. Discret. Comput. Geom. 44(3): 660-685 (2010) - [j51]Eric Berberich, Efi Fogel, Dan Halperin, Kurt Mehlhorn, Ron Wein:
Arrangements on Parametric Surfaces I: General Framework and Infrastructure. Math. Comput. Sci. 4(1): 45-66 (2010) - [j50]Eric Berberich, Efi Fogel, Dan Halperin, Michael Kerber, Ophir Setter:
Arrangements on Parametric Surfaces II: Concretizations and Applications. Math. Comput. Sci. 4(1): 67-91 (2010) - [j49]Ophir Setter, Micha Sharir, Dan Halperin:
Constructing Two-Dimensional Voronoi Diagrams via Divide-and-Conquer of Envelopes in Space. Trans. Comput. Sci. 9: 1-27 (2010) - [c59]Michael Hemmer, Ophir Setter, Dan Halperin:
Constructing the Exact Voronoi Diagram of Arbitrary Lines in Three-Dimensional Space - with Fast Point-Location. ESA (1) 2010: 398-409 - [c58]Dan Halperin:
Controlled Perturbation for Certified Geometric Computing with Fixed-Precision Arithmetic. ICMS 2010: 92-95 - [c57]