Planning a Purely Translational Motion for a Convex Object in Two-Dimensional Space Using Generalized Voronoi Diagrams. Micha Sharir; D. Leven — 1987 Discrete & computational geometry
On the Number of Critical Free Contacts of a Convex Polygonal Object Moving in Two-Dimensional Polygonal Space. Micha Sharir; D. Leven — 1987 Discrete & computational geometry