Castles in the Air Revisited.
Discrete & computational geometry, Tome 12 (1994) no. 1, pp. 119-150.

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Mots-clés : combinatorial properties, arrangements of simplices, complexity, translative, castles in the air, Ackermann function, cells, -faces, motion planning
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M. Sharir; B. Aronov. Castles in the Air Revisited.. Discrete & computational geometry, Tome 12 (1994) no. 1, pp. 119-150. http://geodesic.mathdoc.fr/item/DCG_1994__12_1_131322/