Optimal Mesh Algorithms for the Voronoi Diagram of Line Segments and Motion Planning in the Plane - researchr publication references

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Sanguthevar Rajasekaran, Suneeta Ramaswami. Optimal Mesh Algorithms for the Voronoi Diagram of Line Segments and Motion Planning in the Plane. J. Parallel Distrib. Comput., 26(1):99-115, 1995.

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