A “retraction” method for planning the motion of a disc

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A tight lower bound for the complexity of path-planning for a disc
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The complexity of the free space for motion planning amidst fat obstacles
ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES
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Approximating Voronoi Diagrams of Convex Sites in Any Dimension
Stability of solutions in problems of computational geometry
Characterization of contour elements that generate abstract Voronoi diagrams
A convex polygon among polygonal obstacle: Placement and high-clearance motion

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