@article{DCG_1987__2_131006,
     author = {Micha Sharir and D. Leven},
     title = {Planning a {Purely} {Translational} {Motion} for a {Convex} {Object} in {Two-Dimensional} {Space} {Using} {Generalized} {Voronoi} {Diagrams.}},
     journal = {Discrete & computational geometry},
     pages = {9--32},
     publisher = {mathdoc},
     volume = {2},
     year = {1987},
     zbl = {0606.52002},
     url = {http://geodesic.mathdoc.fr/item/DCG_1987__2_131006/}
}