Geodesic
Piecewise Linear Paths Among Convex Obstacles.
Discrete & computational geometry, Tome 14 (1995) no. 3, pp. 9-30

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@article{DCG_1995__14_3_131390,
     author = {J. Matousek and O. Schwarzkopf and M. de Berg},
     title = {Piecewise {Linear} {Paths} {Among} {Convex} {Obstacles.}},
     journal = {Discrete & computational geometry},
     pages = {9--30},
     publisher = {mathdoc},
     volume = {14},
     number = {3},
     year = {1995},
     zbl = {0939.68876},
     url = {http://geodesic.mathdoc.fr/item/DCG_1995__14_3_131390/}
}
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J. Matousek; O. Schwarzkopf; M. de Berg. Piecewise Linear Paths Among Convex Obstacles.. Discrete & computational geometry, Tome 14 (1995) no. 3, pp. 9-30. http://geodesic.mathdoc.fr/item/DCG_1995__14_3_131390/