Approximate Motion Planning and the Complexity of the Boundary of the Union of Simple Geometric Figures

Helmut Alt, Rudolf Fleischer, Michael Kaufmann, Kurt Mehlhorn, Stefan Näher, Stefan Schirra, Christian Uhrig. Approximate Motion Planning and the Complexity of the Boundary of the Union of Simple Geometric Figures. In Symposium on Computational Geometry. pages 281-289, 1990. [doi]