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\\item[(2)] decide whether two points belong to the same semi-algebraically connected component of this set; \\item[(3)] if so, to compute a semi-algebraic path with image contained in this set.   \\end{itemize}}  The main results of this paper are the following:  Given and ordered subdomain \\(D\\) of a real closed field \\(R\\), there exists an algorithm that takes as input {\\parindent=6mm \\begin{itemize}\\item[(1)] a polynomial \\(P\\in D[X_1,\\dots, X_k]\\), with \\(\\deg(P)\\leq d\\); \\item[(2)] a finite set \\({\\mathcal A}=\\{p_1,\\dots, p_m\\}\\) contained in the ``real'' variety \\(V\\) defined by the zeroes of \\(P\\) in \\(R^k\\), such that for each \\(i=1,\\dots, m\\), the degree of a ``real univariate representation'' (a specific algebraic way of representing these points with coefficients in \\(D\\)) of \\(p_i\\) is bounded by \\(D_i\\);  \\end{itemize}} and computes the following outputs: {\\parindent=6mm \\begin{itemize}\\item[(1)] a ``roadmap'' (a semi-algebraic set of \\(V\\) of dimension at most one with some extra conditions) of \\(V\\) containing \\({\\mathcal A}\\). \\item[(2)] the number of semi-algebraically connected components of \\(V\\).   \\end{itemize}} The complexity of computing the first output is bounded by  \\[ \\left(1+\\sum_{i=1}^mD_i^{{\\mathcal O}(\\log^2k)}\\right)\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k\\log^2k)},  \\]  while the size of the output is bounded by \\(\\big(\\#{\\mathcal A}+1\\big)(k^{\\log\\,k}d)^{{\\mathcal O}(k\\,\\log k)}\\), and the degrees of the polynomials appearing in the descriptions of it are bounded by \\(\\big(\\max_{1\\leq i\\leq m}D_i\\big)^{{\\mathcal O}(\\log k)}\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k\\,\\log k)}\\).  The complexity of computing the second output is bounded by \\(\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k\\,\\log^2 k)}\\).  If in addition we are given with the input two real univariate representations whose associated points are contained in \\(V\\) with degrees bounded by \\(D_1\\) and \\(D_2\\) respectively, there is an algorithm deciding whether the two points belong to the same semi-algebraically connected component of \\(V\\), and if so computes a description of a semi-algebraic path connecting them with image contained in \\(V\\). The complexity of this algorithm is bounded by  \\[ \\left(D_1^{{\\mathcal O}(\\log^2k)}+D_2^{{\\mathcal O}(\\log^2k)}+1\\right)\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k \\log^2k)}, \\]  and the size the the output as well as the degrees of the polynomials appearing in the descriptions of the curve segments and points are bounded by \\(\\max\\{1,D_1,D_2\\}^{{\\mathcal O}(\\log k)}\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k \\log k)}\\).  All these bounds above improve the previous known estimations, some of them gotten by the authors and some collaborators in [\\textit{S. Basu} et al., Found. Comput. Math. 14, No. 6, 1117--1172 (2014; Zbl 1322.14090)]. In addition, as an application of the results above, the author prove the following result which was already addressed in [\\textit{D. D'Acunto} and \\textit{K. Kurdyka}, Bull. Lond. Math. Soc. 38, No. 6, 951--965 (2006; Zbl 1106.14046)] without upper bounds on complexity: if \\(V\\) is a real algebraic variety defined by a polynomial of degree at most \\(D\\), and \\(C\\) a connected component of \\(V\\) contained in the unit ball centered at the origin, any two points \\(x, y\\in C\\) can be connected inside \\(C\\) by a semi-algebraic path of length at most \\(\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k \\log k)}\\), consisting of at most \\(\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k \\log k)}\\)curve segments of degrees bounded by \\(\\big(k^{\\log k}d\\big)^{{\\mathcal O}(k \\log 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