1. Basu, S., Pollack, R., Roy, M.-F.: Computing roadmaps of semi-algebraic sets on a variety. J. Am. Math. Soc. 13(1), 55–82 (2000)
2. Basu, S., Pollack, R., Roy M.-F.: Algorithms in Real Algebraic Geometry, Algorithms and Computation in Mathematics, vol. 10, second edn. Springer-Verlag, Berlin (2006). Revised version of the second edition online. http://perso.univ-rennes1.fr/marie-francoise.roy/
3. Basu, S., Roy, M.-F., Safey El Din, M., Schost, É.: A baby step-giant step roadmap algorithm for general algebraic sets. Found. Comput. Math. (to appear). arXiv:1201.6439
4. Bochnak, J., Coste, M., Roy, M.-F.: Géométrie algébrique réelle (Second edn, in English: Real Geometry). Ergebnisse der Mathematik und ihrer Grenzgebiete, vol. 36. Springer-Verlag, Berlin (1987/1998). http://www.springer.com/mathematics/algebra/book/978-3-540-64663-1
5. Canny, J.: The Complexity of Robot Motion Planning. MIT Press, Cambridge (1987)