1. Precise bounds for Presburger arithmetic and the reals with addition;Berman,1977
2. Collision detection for moving polyhedra;Canny;IEEE Trans. Pattern Anal. Mach. Intell.,1986
3. A Voronoi method for the piano-movers problem;Canny,1985
4. Quantifier elimination for real closed fields by cylindrical algebraic decomposition;Collins,1975
5. Motion of objects in contact;Hopcroft;Int. J. Rob. Res.,1986