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Ruth Haas, David Orden, Günter Rote, Francisco Santos, Brigitte Servatius, Herman Servatius, Diane L. Souvaine, Ileana Streinu, Walter Whiteley. Planar minimally rigid graphs and pseudo-triangulations. In Proceedings of the 19th ACM Symposium on Computational Geometry, June 8-10, 2003, San Diego, CA, USA. pages 154-163, ACM, 2003. [doi]

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