robust
geometric computing and CGAL
arrangements
robotics,
algorithmic motion planning, assembly planning
molecular
modeling
miscellaneous
surveys
robust
geometric computing and CGAL
arrangements
robotics,
algorithmic motion planning, assembly planning
molecular
modeling
miscellaneous
surveys
E. Fogel, D. Halperin, L. Kettner, M. Teillaud, R. Wein and N. Wolpert
Arrangements
Effective Computational Geometry for Curves and Surfaces, Jean-Daniel Boissonnat and Monique Teillaud (eds.), Springer, Mathematics and Visualization series, 2007, Chapter 1, pp. 1-66.
[BibTex]
M. de Berg, D.
Halperin and M. Overmars
An intersection-sensitive
algorithm for snap rounding
Computational Geometry: Theory and Applications 36, 2007, pp. 159-165.
[BibTex]
E. Fogel and D.
Halperin
Exact and
Efficient Construction of Minkowski Sums of Convex Polyhedra with Applications
ALENEX 2006, Miami, Florida, 2006
[BibTex]
I. Haran and D.
Halperin
An Experimental
Study of Point Location in General Planar Arrangements
ALENEX 2006, Miami, Florida, 2006
[BibTex]
R. Wein, E.
Fogel, B. Zukerman and D. Halperin
Advanced
programming techniques applied to CGAL's arrangement package
Proc.
Library-Centric Software Design Workshop, LCSD'05, San Diego, California,
2005
[BibTex]
E. Fogel and D.
Halperin
Video: Exact
Minkowski sums of convex polyhedra
Proc. 21st ACM Symposium on
Computational Geometry, SoCG 2005, Pisa, Italy, 2005, 382-383.
[BibTex]
E. Fogel, R. Wein
and D. Halperin
Code flexibility and
program efficiency by genericity: Improving CGAL's arrangements
Proc.
12th Annual European Symposium on Algorithms (ESA), Bergen, Norway, 2004,
664-676.
[BibTex]
E. Fogel et al.
An
empirical comparison of software for constructing arrangements of curved arcs
(preliminary version)
ECG Technical Report No.: ECG-TR-361200-01,
Tel Aviv University.
[BibTex]
D. Halperin and
E. Leiserowitz
Controlled
perturbation for arrangements of circles
International Journal of
Computational Geometry and Applications, 14 (4 & 5), 2004, pp. 277-310.
Special issue, papers from SoCG 2003.. 
A preliminary version
appeared in Proc. 19th ACM Symposium on Computational Geometry, SoCG
2003, San Diego, 264-273.
[BibTex]
D. Halperin and
E. Packer
Iterated snap
rounding
Computational Geometry: Theory and Applications, 23(2),
2002, pp. 209-222. A preliminary version appeared in Abstracts 17th European Workshop
on Computational Geometry, Berlin, 2001, 82-85.
[BibTex]
D. Halperin
Robust
geometric computing in motion
International Journal of Robotics
Research, 21 (3), 2002, pp. 219-232. Appeared in:
Algorithmic and Computational Robotics: New Dimensions (WAFR '00). B.R.
Donald and K.M. Lynch and D. Rus (eds.,) A.K. Peters, Wellesley, 2001, pp. 9-22.
(Invited talk at WAFR 2000, Workshop on Algorithmic Foundations of
Robotics , Dartmouth College, March 2000).
[BibTex]
E. Ezra, D.
Halperin and M. Sharir
Speeding up the
incremental construction of the union of geometric objects in practice.
Computational Geometry: Theory and Applications, 27 (2004), pp.
63-85. Special issue, papers from the 18th European Workshop on Computational
Geometry, Warsaw, April 2002. A preliminary version appeared in
Proc. 10th Europen Symposium on Algorithms (ESA), Rome, 2002, 473-484.
[BibTex]
E. Flato, E.
Fogel, D. Halperin and E. Leiserowitz
Video: Exact
Minkowski sums and applications
Proc. 18th ACM Symposium on
Computational Geometry, Barcelona, 2002, 273-274.
[BibTex]
P.K. Agarwal, E.
Flato and D. Halperin
Polygon
decomposition for efficient construction of Minkowski sums
Computational Geometry: Theory and Applications, Special Issue,
selected papers from the European Workshop on Computational
Geometry, Eilat, 2000, vol. 21 (2002), 39-61. A preliminary version appeared in
Proc. 8th European Symposium on Algorithms (ESA), Saarbrücken, 2000.
Springer LNCS Vol. 1879, 20-31.
See also Eyal Flato's thesis.
[BibTex]
E. Flato and D.
Halperin
Robust and
efficient construction of planar Minkowski sums
Abstracts 16th
European Workshop on Computational Geometry, Eilat, 2000, 85-88.
See also Eyal Flato's thesis.
[BibTex]
I. Hanniel and D.
Halperin
Two-dimensional
arrangements in CGAL and adaptive point location for parametric curves
Proc. 4th International Workshop on Algorithm Engineering (WAE),
Saarbrücken, LNCS Vol. 1982, Springer, 2000, 171-182.
See also Iddo Hanniel's thesis.
[BibTex]
E. Flato, D.
Halperin, I. Hanniel, O. Nechushtan and E. Ezra
The design and implementation of
planar maps in CGAL
The ACM Journal of Experimental Algorithmics
Volume 5, 2000, pp. 1-23. A preliminary version appeared in
Proc. 3rd International Workshop on Algorithm Engineering (WAE), London,
1999, Springer LNCS Vol. 1668, 154-168
[BibTex]
C. Linhart, D.
Halperin, S. Har-Peled and I. Hanniel,
On-line zone
construction in arrangements of lines in the plane
International
Journal of Computational Geometry and Applications, 13:6 (2003), pp.
463-485.
A preliminary version with Y. Aharoni appeared in Proc. 3rd International
Workshop on Algorithm Engineering (WAE), London, 1999,
Springer LNCS
Vol. 1668, 139-153.
[BibTex]
D. Halperin and C.R. Shelton
A perturbation
scheme for spherical arrangements with application to molecular modeling (the
full version, MIT AI MEMO)
Computational Geometry: Theory and
Applications 10 (4), 1998, pp. 273-288. A preliminary version appeared in
Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997,
183-192.
[BibTex]
D. Halperin and
S. Raab
Full version: Controlled
perturbation for arrangements of polyhedral surfaces A preliminary version entitled:
Controlled perturbation for arrangements of polyhedral surfaces with application
to swept volumes
by S. Raab appeared in Proc. 15th ACM Symposium on
Computational Geometry, Miami, 1999, 163-172.
See also Sigal Raab's thesis.
[BibTex]
Papers reporting
on the experimental study of arrangements including arrangements in CGAL appear
above under robust
geometric computing and CGAL
D. Halperin
Arrangements
CRC Handbook of Discrete and Computational Geometry,
2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca
Raton, FL, 2004, pp. 529-562.
[BibTex]
H. Shaul and D.
Halperin
Improved
construction of vertical decompositions of 3D arrangements
Proc. 18th ACM Symposium on Computational Geometry, Barcelona,
2002, 283-292.
[BibTex]
B. Aronov, A.
Efrat, D. Halperin, and M. Sharir
On the number of
regular vertices of the union of Jordan regions
Discrete and
Computational Geometry, 25 (2001), 203-220. A preliminary version appeared in
Proc. 6th Scandinavian Workshop on Algorithm Theory (SWAT), Stockholm,
1998, pp. 322-334.
[BibTex]
M. de Berg, D.
Halperin, M.H. Overmars and M. van Kreveld
Sparse
arrangements and the number of views of polyhedral scenes
International Journal of Computational Geometry and Applications 7
(1997), 175-195.
[BibTex]
M. de Berg, L.J.
Guibas and D. Halperin
Vertical
decompositions for triangles in 3-space
Discrete and Computational
Geometry, 15 (1996), 36--61 A preliminary version appeared in
Proc. 10th ACM Symposium on Computational Geometry, Stony Brook,
1994, 1-10.
[BibTex]
D. Halperin and
M. Sharir
Almost tight
upper bounds for the single cell and zone problems in three dimensions
Discrete and Computational Geometry, special issue of papers from the
10th ACM Symposium on Computational Geometry, 14 (1995), 385--410.
A preliminary
version appeared in Proc. 10th ACM Symposium on Computational Geometry,
Stony Brook, 1994, 11-20.
[BibTex]
L.J. Guibas, D.
Halperin, J. Matousek and M. Sharir
On vertical
decomposition of arrangements of hyperplanes in four dimensions
Discrete and Computational Geometry 14 (1995), 113--122 A preliminary version
appeared in Proc. 5th Canadian Conference on Computational Geometry,
Waterloo, 1993, pp. 127-132.
[BibTex]
S. Har-Peled, T.
M. Chan, B. Aronov, D. Halperin and J. Snoeyink
The complexity
of a single face of a Minkowski sum
Proc. 7th Canadian Conference on
Computational Geometry, University Laval, Quebec, 1995, pp. 91-96
[BibTex]
D. Halperin and
M. Sharir
Arrangements and
their applications in robotics: Recent developments
The Algorithmic
Foundations of Robotics, K. Goldberg, D. Halperin, J.C. Latombe and R.
Wilson, Eds., A.K. Peters, Boston, MA, 1995, 495--511. A preliminary version appeared in
Proc. 1st Workshop on the Algorithmic Foundations of Robotics, San
Francisco, 1994.
[BibTex]
E.M. Arkin, D.
Halperin, K. Kedem, J.S.B. Mitchell and N. Naor
Arrangements of
segments that share endpoints: Single face results
Discrete and
Computational Geometry 13 (1995), L\'aszl\'o Fejes T\'oth Festschrift,
257--270. A
preliminary version appeared in Proc. 7th ACM Symposium on
Computational Geometry, North Conway, 1991, pp. 324-333.
[BibTex]
D. Halperin and
M. Sharir
New bounds for
lower envelopes in three dimensions, with applications to visibility in
terrains
Discrete and Computational Geometry 12 (1994), 313-326.
A preliminary
version appeared in Proc. 9th ACM Symposium on Computational
Geometry, San Diego, 1993, 11-18.
[BibTex]
D. Halperin
On
the complexity of a single cell in certain arrangements of surfaces related to
motion planning
Discrete and Computational Geometry 11 (1994),
1-33 A
preliminary version appeared in Proc. 7th ACM Symposium on
Computational Geometry, North Conway, 1991, pp. 314-323.
[BibTex]
D. Halperin and
M. Sharir
On disjoint concave chains in arrangements of (pseudo) lines
Information Processing Letters 40 (1991), 189-192.
Corrigendum
ibid 51 (1994),53-56.
[BibTex]
R. Wein, J.P. van
den Berg, and D. Halperin
Planning near-optimal corridors amidst obstacles (full version: Planning high-quality paths and corridors amidst obstacles)
Proc. 7th International Workshop on the Algorithmic Foundations of Robotics, New York City, July 2006.
[BibTex]
R. Wein, J.P. van
den Berg, and D. Halperin
The
visibility-Voronoi complex and its applications
Computational Geometry: Theory and Applications, 36 (1) 2007, pp. 66-87.
A preliminary version appeared in Proc. 21st ACM Symposium on Computational Geometry, Pisa, June 2005, 63-72.
[BibTex]
D. Halperin, L.
Kavraki, and J.-C. Latombe,
Robotics
CRC Handbook of Discrete and
Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.),
CRC Press, Inc., Boca Raton, FL, 2004, pp. 1065-1093.
[BibTex]
O. Ilushin, G.
Elber, D. Halperin and R. Wein and M.-S. Kim
Precise global
collision detection in multi-axis NC-machining
Computer-Aided
Design, 37(9), 2005, pp. 909-920. A preliminary version appeared in
Proc. International CAD Conference, Thailand, May 2004, pp. 233-243.
[BibTex]
R. Wein, O.
Ilushin, G. Elber and D. Halperin
Continuous
path verification in multi-axis NC-machining
International Journal of
Computational Geometry and Applications, 15 (4) 2005, pp. 351-378. Special
issue, dedicated to papers from the 20th ACM Symposium on Computational
Geometry,
Brooklyn, June, 2004. A preliminary version appeared in
Proc. 20th ACM Symposium on Computational Geometry, Brooklyn, June 2004,
pp. 86-95.
[BibTex]
S. Hirsch and D.
Halperin
Hybrid
motion planning: Coordinating two discs moving among polygonal obstacles in the
plane
Proc. 5th Workshop on Algorithmic Foundations of Robotics
(WAFR), Nice, 2002, 225-241.
[BibTex]
D. Halperin, M.
Sharir and K. Goldberg
The 2-center
problem with obstacles
Journal of Algorithms 42 (2002), pp.
109-134. A
preliminary version appeared in Proc. 16th ACM Symposium on Computational
Geometry, Hong Kong, 2000, 80-90.
[BibTex]
D. Halperin,
J.-C. Latombe and R.H. Wilson
A general
framework for assembly planning: The motion space approach
Algorithmica , 26 (2000), 577--601 A preliminary version appeared in
Proc. 14th ACM Symposium on Computational Geometry , Minneapolis,
1998, 9-18.
[BibTex]
K.F. Böhringer,
B.R. Donald and D. Halperin
Full version: On the area
bisectors of a polygon
appeared in: Discrete and Computational
Geometry, 22 (1999), 269-285. A preliminary version entitled:
The area bisectors of a polygon and force equilibria in programmable vector
fields
appeared in: Proc. 13th ACM Symposium on Computational
Geometry, Nice, 1997, pp. 457-459.
[BibTex]
D. Halperin, L.
Kavraki, and J.-C. Latombe,
Robot
algorithms
CRC Algorithms and Theory of Computation Handbook M.
Atallah (editor), CRC Press, Inc., Boca Raton, FL, 1999, Chapter 21
[BibTex]
L.J. Guibas, D.
Halperin, H. Hirukawa, J.-C. Latombe and R.H. Wilson
Polyhedral
assembly partitioning using maximally covered cells in arrangements of convex
polytopes
Int. J. of Computational Geometry and its applications,
8(2), 1998, 179-199. A preliminary version appeared in Proc. IEEE International
Conference on Robotics and Automation, Nagoya, Japan, 1995, 2553-2560.
[BibTex]
J. Chen, K.
Goldberg, M. Overmars, D. Halperin, K.F. Böhringer, and Y. Zhuang
Computing tolerance parameters for fixturing and feeding
The Assembly Automation Journal , 22 (2002),
163-172. A preliminary version entitled: Shape
Tolerance in Feeding and Fixturing, appeared in:
The Algorithmic
Foundations of Robotics, P.K. Agarwal, L. Kavraki, and M. Mason, Eds., A.K.
Peters, Boston, MA, 1998, 297-311.
[BibTex]
D. Halperin and
R.H. Wilson
Assembly
partitioning along simple paths: The case of multiple translations
Advanced Robotics , 11 (1997), 127-146. A preliminary version appeared in
IEEE International Conference on Robotics and Automation, Nagoya, Japan,
1995, 1585-1592.
[BibTex]
D. Halperin and
C.-K. Yap
Combinatorial
complexity of translating a box in polyhedral 3-space
Computational
Geometry: Theory and Applications, 9 (1998), 181-196. A preliminary version appeared in
Proc. 9th ACM Symposium on Computational Geometry, San Diego, 1993,
pp. 29-37.
[BibTex]
D. Halperin and
M. Sharir
A near-quadratic
algorithm for planning the motion of a polygon in a polygonal environment
Discrete and Computational Geometry, 16 (1996), 121-134. A preliminary version
appeared in Proc. 5th Annual Symposium on Foundations of Computer Science
(FOCS), Palo Alto, 1993, 382-391.
[BibTex]
P. Agarwal, M. de
Berg, D. Halperin and M. Sharir
Efficient
generation of k-directional assembly sequences
Proc. 7th ACM-SIAM
Symp. on Discrete Algorithms (1996), 122-131.
[BibTex]
K.Y. Goldberg, D.
Halperin, J.-C. Latombe and R.H. Wilson (editors)
Algorithmic Foundations of
Robotics
A.K. Peters, Wellseley, MA, 1995.
[BibTex]
M. de Berg, L.J.
Guibas, D. Halperin, M.H. Overmars, O. Schwarzkopf, M. Sharir and M. Teillaud
Reaching a
goal with directional uncertainty
Theoretical Computer Science
140 (1995), 301-317. A preliminary version appeared in Proc. 4th International Symposium
on Algorithms and Computation (ISAAC '93), Hong Kong, 1993, 1-10.
[BibTex]
D. Halperin
Robot
motion planning and the single cell problem in arrangements
Journal
of Intelligent and Robotic Systems 11 (1994), 45-65.
[BibTex]
A.F. van der
Stappen, D. Halperin and M.H. Overmars
The
complexity of the free space for a robot moving amidst fat obstacles
Computational Geometry: Theory and Applications 3 (1993), 353-373.
[BibTex]
A.F. van der
Stappen, D. Halperin and M.H. Overmars
Efficient
algorithms for exact motion planning amidst fat obstacles
Proc. IEEE
International Conference on Robotics and Automation, Atlanta, 1993, Vol. 1,
pp.297-304.
[BibTex]
D. Halperin
Algorithmic motion planning via arrangements of curves and of surfaces
Ph.D Thesis, Computer Science Department, Tel Aviv University, Tel
Aviv, July 1992.
[BibTex]
D. Halperin, M.H.
Overmars and M. Sharir
Efficient
motion planning for an L-shaped object
SIAM Journal on Computing
21 (1992), 1-23 A preliminary version appeared in Proc. 5th ACM Symposium on
Computational Geometry, Saarbrücken, 1989, pp. 156-166.
[BibTex]
D. Halperin and
M. Sharir
Improved
combinatorial bounds and efficient techniques for certain motion planning
problems with three degrees of freedom
Computational Geometry:
Theory and Applications 1 (1992), 269-303. A preliminary version appeared in
Proc. 2nd Canadian Conference on Computational Geometry, Ottawa, 1998,
pp. 98-101.
[BibTex]
D. Halperin
Automatic
kinematic modelling of robot manipulators and symbolic generation of their
inverse kinematics solutions
Proc. 2nd International Workshop on
Advances in Robot Kinematics Linz, 1990. pp. 310-317.
[BibTex]
A. Enosh, S. J. Fleishman, N. Ben-Tal and D.
Halperin
Prediction and Simulation of Motion in Pairs of Transmembrane Alpha-Helices
Proc. 5th European Conference on Computational Biology - ECCB
2006 , Eilat, Israel, 2007.
[BibTex]
S. J. Fleishman, S.E. Harrington, A. Enosh, D.
Halperin, C.G. Tate and N. Ben-Tal
Quasi-symmetry in the Cryo-EM Structure of EmrE Provides the Key to Modeling its Transmembrane Domain
Journal of Molecular Biology, 364 (2006), 54-67.
[BibTex]
E. Eyal and D.
Halperin
Improved
maintenance of molecular surfaces using dynamic graph connectivity
Proc. 5th International Workshop on Algorithms in Bioinformatics - WABI
2005 , Mallorca, Spain, 2005, Springer LNCS, Vol. 3692.
[BibTex]
E. Eyal and D.
Halperin
Dynamic
maintenance of molecular surfaces under conformational changes
Proc.
21st ACM Symposium on Computational Geometry , Pisa, June 2005, 45-54.
[BibTex]
A. Enosh, S.J.
Fleishma, N. Ben-Tal and D. Halperin.
Assigning
transmembrane segments to helics in intermediate-resolution structures
Proc. Twelfth International Conference on Intelligent Systems for
Molecular Biology (ISMB), held jointly with the Third European Conference on
Computational Biology (ECCB),
Glasgow, July-August, 2004, pp. 122-129.
[BibTex]
I. Lotan, F.
Schwarzer, D. Halperin and J.-C. Latombe
Algorithm and data
structures for efficient energy maintenance during Monte Carlo simulation of
proteins
Journal of Computational Biology 11 (5), 2004, 902-932.
A preliminary
and partial version, titled: Efficient maintenance and
self-collision testing for kinematic chains,
appeared in
Proc. 18th ACM Symposium on Computational Geometry, Barcelona, 2002, pp,
43-52.
[BibTex]
D. Halperin and
C.R. Shelton
A perturbation
scheme for spherical arrangements with application to molecular modeling
Computational Geometry: Theory and Applications 10 (4), 1998,
273-288.
(see
also the section "Robust geometric computing" above) A preliminary version appeared in
Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997,
183-192.
[BibTex]
D. Halperin and
M.H. Overmars
Spheres,
molecules, and hidden surface removal
Computational Geometry: Theory
and Applications 11 (2), 1998, 83-102. A preliminary version appeared in
Proc. 10th ACM Symposium on Computational Geometry, Stony Brook,
1994, 113-122.
[BibTex]
P.W. Finn, D.
Halperin, L. Kavraki, J.-C. Latombe, R. Motwani, C.Shelton, and S.
Venkatasubramanian
Geometric
manipulation of flexible ligands
Applied Computational Geometry:
Towards geometric Engineering M.C. Lin and D. Manocha (editors), Springer
1996, (papers from the ACM Workshop on Applied Computational Geometry 1996), pp.
67-78.
[BibTex]
D. Halperin,
J.-C. Latombe, and R. Motwani
Dynamic
maintenance of kinematic structures
Algorithms for Robotic Motion and
manipulation (WAFR '96), J.-P. Laumond and M. Overmars (editors), A.K.
Peters, Wellesley, 1997, pp. 155-170 A preliminary version appeared in
Proc. 2nd Workshop on the Algorithmic Foundations of Robotics, Toulouse,
1996.
[BibTex]
B. Aronov, H.
Brönimann, D. Halperin and R. Schiffenbauer
On the number
of views of polyhedral scenes
Revised Papers of the Japanese
Conference on Discrete and Computational Geometry (JCDCG 2000) , Tokai
University, Japan, October 2000. Springer LNCS Vol. 2098, pp. 81-90.
[BibTex]
D. Cohen-Or, G.
Fibich, D. Halperin and E. Zadicario
Conservative
visibility and strong occlusion for viewpsace partitioning of densely occluded
scenes
Eurographics '98, Computer Graphics Forum 17 (3) (1998),
C243-C253.
[BibTex]
M. Charikar, D.
Halperin and R.Motwani
The dynamic
servers problem
Proc. 9th ACM Symposium on Discrete Algorithms
(SODA), San Francisco, 1998, pp. 410-419.
[BibTex]
H.K. Ahn, M. de
Berg, P. Bose, S.W. Cheng, D. Halperin, J. Matousek, and O. Schwarzkopf
Separating an
object from its cast
Computer-Aided Design, 34 (8), 2002, pp.
547-559. A
preliminary version appeared in Proc. 13th ACM Symposium on Computational
Geometry, Nice, 1997, pp. 221--230.
[BibTex]
M. de Berg, D.
Halperin, M.H. Overmars, J. Snoeyink and M. van Kreveld
Efficient
ray shooting and hidden surface removal
Algorithmica 12 (1994),
30-53. A
preliminary version appeared in Proc. 7th ACM Symposium on
Computational Geometry, North Conway, 1991, pp. 21-30.
[BibTex]
E. Fogel, D. Halperin, L. Kettner, M. Teillaud, R. Wein and N. Wolpert
Arrangements
Effective Computational Geometry for Curves and Surfaces, Jean-Daniel Boissonnat and Monique Teillaud (eds.), Springer, Mathematics and Visualization series, 2007, Chapter 1, pp. 1-66.
[BibTex]
D. Halperin
Arrangements
CRC Handbook of Discrete and Computational Geometry,
2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca
Raton, FL, 2004, pp. 529-562.
[BibTex]
D. Halperin, L.
Kavraki, and J.-C. Latombe,
Robotics
CRC Handbook of Discrete and
Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.),
CRC Press, Inc., Boca Raton, FL, 2004, 1065-1093.
[BibTex]
D. Halperin
Robust
geometric computing in motion
Algorithmic and Computational Robotics:
New Dimensions (WAFR '00). B.R. Donald and K.M. Lynch and D. Rus (eds.,)
A.K. Peters,
Wellesley, 2001, pp. 9-22.
(Invited talk at WAFR 2000,
Workshop on Algorithmic Foundations of Robotics , Dartmouth College,
March 2000).
[BibTex]
D. Halperin, L.
Kavraki, and J.-C. Latombe,
Robot
algorithms
CRC Algorithms and Theory of Computation Handbook M.
Atallah (editor), CRC Press, Inc., Boca Raton, FL, 1999, Chapter 21
[BibTex]
D. Halperin and
M. Sharir
Arrangements and
their applications in robotics: Recent developments
The Algorithmic
Foundations of Robotics, K. Goldberg, D. Halperin, J.C. Latombe and R.
Wilson, Eds., A.K. Peters, Boston, MA, 1995, 495-511. A preliminary version appeared in
Proc. 1st Workshop on the Algorithmic Foundations of Robotics, San
Francisco, 1994.
[BibTex]
D. Halperin
Robot
motion planning and the single cell problem in arrangements
Journal
of Intelligent and Robotic Systems 11 (1994), 45-65.
[BibTex]