M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf,
* Computational Geometry: Algorithms and Applications *

2nd Edition, Springer, 2000.

Reading Chapters 1 and 2 is a must. In class it will be assumed that
you are familiar with the following: * polygon, convexity,
convex-hull, plane sweep, DCEL. *

Later on, we will use concepts and algorithms from the following chapters:

Chapter 3 - triangulations

Chapter 5 - range search

Chapter 6 - trapezoidal decomposition and point location

Chapter 7 - Voronoi diagrams

The topic of * arrangements * will be studied in class.

There are some chapters in the book dedicated or related to motion planning. The contents of these chapters will be covered in class.