Wm Randolph Franklin and Varol Akman. Shortest paths in 3-space, Voronoi diagrams with barriers, and related complexity and algebraic issues. In Proceedings of the NATO Advanced Study Institute on Fundamental Algorithms for Computer Graphics, volume 17 of NATO ASI Series F, pages 895–917. Springer-Verlag, Ilkley, Yorkshire, England, 30 March – 12 April 1985.

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@incollection{fa-sp3sv-85,
    author = "Franklin, Wm Randolph and Akman, Varol",
    title = "Shortest Paths in 3-Space, {V}oronoi Diagrams with Barriers, and Related Complexity and Algebraic Issues",
    booktitle = "Proceedings of the {NATO} Advanced Study Institute on Fundamental Algorithms for Computer Graphics",
    address = "Ilkley, Yorkshire, England",
    month = "30 March -- 12 April",
    year = "1985",
    publisher = "Springer-Verlag",
    series = "{NATO} {ASI} Series F",
    volume = "17",
    pages = "895--917",
    href = "\bibhref{31-nato85-shortest}",
    mykey = "akman pathplan",
    keywords = "motion planning"
}

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@incollection{fa-sp3sv-85,
    author = "Franklin, Wm Randolph and Akman, Varol",
    title = "Shortest Paths in 3-Space, {V}oronoi Diagrams with Barriers, and Related Complexity and Algebraic Issues",
    booktitle = "Proceedings of the {NATO} Advanced Study Institute on Fundamental Algorithms for Computer Graphics",
    address = "Ilkley, Yorkshire, England",
    month = "30 March -- 12 April",
    year = "1985",
    publisher = "Springer-Verlag",
    series = "{NATO} {ASI} Series F",
    volume = "17",
    pages = "895--917",
    href = "\bibhref{31-nato85-shortest}",
    mykey = "akman pathplan",
    keywords = "motion planning"
}