Author,Title,Journal,ISSN,Publisher,Date,Volume,Number,Page,URL,URL(DOI)
LEVEN D.,Planning a purely translational motion for a convex polygonal object in two dimensional space using generalized Voronoi diagrams,Discrete and Computational Geometry,,,1987,2,,255-270,https://cir.nii.ac.jp/crid/1570291225647209472,