Publications: Books
- Intersection and Decomposition Algorithms for Planar Arrangements, Cambridge University Press, New York, 1991.
- Combinatorial Geometry, with J. Pach, John Wiley and Sons, New York, 1995.
- Davenport-Schinzel Sequences and Their Geometric Applications, with M. Sharir, Cambridge University Press, New York, 1995.
- Robotics: The Algorithmic Perspective with L. Kavraki and M. Mason, eds., A. K. Peters, Wellesley, 1998.