@article{ZNSL_1991_192_a7,
     author = {T. Krick and A. O. Slissenko and P. Solern\'o and J. Heintz},
     title = {Construction of a shortest path around semi-algebraic obstacles in the plane},
     journal = {Zapiski Nauchnykh Seminarov POMI},
     pages = {163--173},
     year = {1991},
     volume = {192},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ZNSL_1991_192_a7/}
}