@incollection{hs-atarr-95 
, author =  "D. Halperin and Micha Sharir" 
, title =   "Arrangements and their applications in robotics: Recent developments" 
, editor =  "K. Goldberg and D. Halperin and J.-C. Latombe and R. Wilson" 
, booktitle =   "Algorithmic Foundations of Robotics" 
, publisher =   "A. K. Peters" 
, address = "Wellesley, MA" 
, year =    1995 
, pages =   "495--511" 
, update =  "99.11 bibrelex, 98.07 agarwal, 98.03 agarwal+mitchell, 95.09 agarwal, 95.05 agarwal" 
}