@article{DCG_1990__5_2_131106,
     author = {K. Kedem and M. Sharir},
     title = {An {Efficient} {Motion-Planning} {Algorithm} for a {Convex} {Polygonal} {Object} in {Two-Dimensional} {Polygonal} {Space.}},
     journal = {Discrete & computational geometry},
     pages = {43--76},
     publisher = {mathdoc},
     volume = {5},
     number = {2},
     year = {1990},
     zbl = {0688.68039},
     url = {http://geodesic.mathdoc.fr/item/DCG_1990__5_2_131106/}
}