Exact workspace boundary by extremal reaches

Ciprian Borcea, Ileana Streinu. Exact workspace boundary by extremal reaches. In Ferran Hurtado, Marc J. van Kreveld, editors, Proceedings of the 27th ACM Symposium on Computational Geometry, Paris, France, June 13-15, 2011. pages 481-490, ACM, 2011. [doi]

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