Wm Randolph Franklin, Varol Akman, and Colin Verrilli. Voronoi diagrams with barriers and on polyhedra for minimal path planning. Visual Comput., 1(2):133–150, October 1985.

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@article{fav-vdbpm-85,
    author = "Franklin, Wm Randolph and Akman, Varol and Verrilli, Colin",
    title = "Voronoi diagrams with barriers and on polyhedra for minimal path planning",
    journal = "Visual Comput.",
    volume = "1",
    number = "2",
    month = "October",
    year = "1985",
    pages = "133--150",
    oldlabel = "geom-1246",
    href = "\bibhref{18-vc85-voronoi}",
    mykey = "akman pathplan",
    keywords = "robotics, planar partitions, motion planning, Voronoi diagrams"
}

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@article{fav-vdbpm-85,
    author = "Franklin, Wm Randolph and Akman, Varol and Verrilli, Colin",
    title = "Voronoi diagrams with barriers and on polyhedra for minimal path planning",
    journal = "Visual Comput.",
    volume = "1",
    number = "2",
    month = "October",
    year = "1985",
    pages = "133--150",
    oldlabel = "geom-1246",
    href = "\bibhref{18-vc85-voronoi}",
    mykey = "akman pathplan",
    keywords = "robotics, planar partitions, motion planning, Voronoi diagrams"
}