@inproceedings{afh-pdecm-00-esa,
  author    = {Pankaj K. Agarwal and
               Eyal Flato and
               Dan Halperin},
  title     = {Polygon Decomposition for Efficient Construction of Minkowski
               Sums},
  booktitle = {ESA},
  year      = {2000},
  pages     = {20-31},
  ee        = {http://dx.doi.org/10.1007/3-540-45253-2_3}
}