@techreport{hl-ecmsp-02,
  author = "Shai Hirsch and Eran Leiserowitz",
  title = "Exact Construction of Minkowski Sums of Polygons and a Disc with Application to Motion Planning"
  institution =  inst-TAU,
  address =      Tel Aviv,
  type = ECG-TR,
  number = "181205-0",
  pages = "",
  year = "2002",
}