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Roos, Thomas, Noltemeier, Hartmut (1991): Dynamic Voronoi Diagrams in Motion Planning. In: Bieri, Hanspeter, Noltemeier, Hartmut (eds.) Computational Geometry - Methods, Algorithms and Applications, International Workshop on Computational Geometry CG91, Bern, Switzerland, March 21-22, 1991 , 1991, . pp. 227-236.