Klara Kedem, Micha Sharir. An efficient algorithm for planning collision-free translational motion of a convex polygonal object in 2-dimensional space amidst polygonal obstacles. In Joseph O Rourke, editor, Proceedings of the First Annual Symposium on Computational Geometry, 1985, Baltimore, Maryland, USA, June 5-7, 1985. pages 75-80, ACM, 1985. [doi]
Abstract is missing.