Pankaj K. Agarwal, R. Sharathkumar, Hai Yu. Approximate Euclidean shortest paths amid convex obstacles. In Claire Mathieu, editor, Proceedings of the Twentieth Annual ACM-SIAM Symposium on Discrete Algorithms, SODA 2009, New York, NY, USA, January 4-6, 2009. pages 283-292, SIAM, 2009. [doi]
Abstract is missing.