On the Motion Planning Problem: The Case of A Polygonal Object Moving Amidst Obstacles of Arbitrary Shape. - Ping-Lih Lin; Yat-Chen Chen; Shyang Chang (J. Inf. Sci. Eng., 1992)

A shortest path algorithm for a nonrotating object among obstacles of arbitrary shapes. - Ping-Lih Lin; Shyang Chang (IEEE Trans. Syst. Man Cybern., 1993)