The Yao Graph $Y_5$ is a Spanner. - Wah Loon Keng; Ge Xia (CoRR, 2013)

New and improved spanning ratios for Yao graphs. - Luis Barba; Prosenjit Bose; Mirela Damian; Rolf Fagerberg; Wah Loon Keng; Joseph O'Rourke; André van Renssen; Perouz Taslakian; Sander Verdonschot; Ge Xia (J. Comput. Geom., 2015)