Geodesic
On the complexity and methods of polyhedral approximations of convex bodies with a partially smooth boundary
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 45 (2005) no. 9, pp. 1555-1565

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Polyhedral approximation of nonsmooth convex compact bodies with a boundary having smooth portions of positive Gaussian curvature is considered. Examples of such bodies are reachable sets of dynamic control systems. The complexity of solving such approximation problems is estimated, and optimal approximation methods are discussed. 
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     title = {On the complexity and methods of polyhedral approximations of convex bodies with a partially smooth boundary},
     journal = {\v{Z}urnal vy\v{c}islitelʹnoj matematiki i matemati\v{c}eskoj fiziki},
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N. B. Brusnikina; G. K. Kamenev. On the complexity and methods of polyhedral approximations of convex bodies with a partially smooth boundary. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 45 (2005) no. 9, pp. 1555-1565. http://geodesic.mathdoc.fr/item/ZVMMF_2005_45_9_a2/