A new efficient motion-planning algorithm for a rod in two-dimensional polygonal space

Algorithms for Reporting and Counting Geometric Intersections

Bentley, Ottmann · IEEE Transactions on Computers · 1979 · 999 citations

Computing, Computer Science, Mathematics +13

On the “piano movers” problem. II. General techniques for computing topological properties of real algebraic manifolds

Jacob T. Schwartz, Micha Sharir · Advances in Applied Mathematics · 1983 · 807 citations

Natural Sciences, Computer Science, Mathematics +12

On the “piano movers'” problem I. The case of a two‐dimensional rigid polygonal body moving amidst polygonal barriers

Jacob T. Schwartz, Micha Sharir · Communications on Pure and Applied Mathematics · 1983 · 451 citations

Engineering, Computer Science, Robotics Engineering +15

A “retraction” method for planning the motion of a disc

Colm Ó'Dúnlaing, Chee Yap · Journal of Algorithms · 1985 · 409 citations

Computing, Computer Science, Motion Planning +6

On the union of Jordan regions and collision-free translational motion amidst polygonal obstacles

Klara Kedem, Ron Livné, János Pach et al. · Discrete & Computational Geometry · 1986 · 375 citations · Full text

Engineering, Mathematics, Robotics Engineering +14