Geodesic
Computation of a path with a minimal number of links in a given homotopy class between semi-algebraic obstacles in the plane
Algebra i analiz, Tome 10 (1998) no. 2, pp. 124-147.

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     author = {D. Yu. Grigor'ev and A. O. Slisenko},
     title = {Computation of a path with a minimal number of links in a given homotopy class between semi-algebraic obstacles in the plane},
     journal = {Algebra i analiz},
     pages = {124--147},
     publisher = {mathdoc},
     volume = {10},
     number = {2},
     year = {1998},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/AA_1998_10_2_a4/}
}
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D. Yu. Grigor'ev; A. O. Slisenko. Computation of a path with a minimal number of links in a given homotopy class between semi-algebraic obstacles in the plane. Algebra i analiz, Tome 10 (1998) no. 2, pp. 124-147. http://geodesic.mathdoc.fr/item/AA_1998_10_2_a4/