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 Info
Dan Halperin's Publications
Publications are listed in reverse chronological order of their latest version, according to the following categories:
Robust Geometric Computing and CGALArrangementsRoboticsMolecular ModelingMiscellaneousSurveysBooks and Proceedings
Robust Geometric Computing and CGAL
 Michael Hemmer, Ophir Setter, Dan Halperin
Constructing the Exact Voronoi Diagram of Arbitrary Lines in ThreeDimensional Space  with Fast PointLocation ESA (1),pages 398409, 2010.
[link][bibtex] [project page]
 Dan Halperin
Controlled Perturbation for Certified Geometric Computing with FixedPrecision Arithmetic ICMS, pages 9295, 2010. [link][bibtex]
 Naama Mayer, Efi Fogel, Dan Halperin
Fast and robust retrieval of Minkowski sums of rotating convex polyhedra in 3space Symposium on Solid and Physical Modeling, pages 110, 2010. [link][bibtex] [project page]
 Eitan Yaffe, Dan Halperin
Approximating the Pathway Axis and the Persistence Diagrams for a Collection of Balls in 3Space Discrete & Computational Geometry 44(3), pages 660685, 2010. [link][bibtex] [project page]
 Eric Berberich, Efi Fogel, Dan Halperin, Kurt Mehlhorn, Ron Wein
Arrangements on Parametric Surfaces I: General Framework and Infrastructure Mathematics in Computer Science 4(1), pages 4566, 2010. [link][bibtex][project page]  Eric Berberich, Efi Fogel, Dan Halperin, Michael Kerber, Ophir Setter
Arrangements on Parametric Surfaces II: Concretizations and Applications Mathematics in Computer Science 4(1), pages 6791, 2010.
[link][bibtex][project page]  Ophir Setter, Micha Sharir, Dan Halperin
Constructing TwoDimensional Voronoi Diagrams via DivideandConquer of Envelopes in Space Transactions on Computational Science 9, pages 127, 2010. [link][bibtex] [project page]
 Ophir Setter, Micha Sharir, and Dan Halperin
Constructing TwoDimensional Voronoi Diagrams via DivideandConquer of Envelopes in Space, In Proceedings of the 6th annual International Symposium on Voronoi Diagrams in Science and Engineering (ISVD), pages 4352, Copenhagen, Denmark, June 2009. [bibtex] [project page]  Ophir Setter and Dan Halperin
Exact construction of minimumwidth annulus of disks in the plane In Abstracts of 25th European Workshop on Computational Geometry, pages 317320, 2009 [pdf] [bibtex] [project page]  E. Fogel, O. Setter and D. Halperin
Exact implementation of arrangements of geodesic arcs on the sphere with applications In Abstracts of 24th European Workshop on Computational Geometry, pp 8386, 2008 [pdf] [bibtex] [project page]  E. Fogel, O. Setter and D. Halperin
Arrangements of geodesic arcs on the sphere In Proceedings of the 24th ACM Annual Symposium on Computational Geometry, pages 218219, 2008 [movie  additional information][pdf] [bibtex] [project page]  I. Haran and D. Halperin
An experimental study of point location in planar arrangements in CGAL ACM Journal of Experimental Algorithmics, 13, 2008 [pdf] [bibtex] [project page] A preliminary version appeared in ALENEX 2006, Miami, Florida, 2006  E. Fogel, D. Halperin, L. Kettner, M. Teillaud, R. Wein and N. Wolpert
Arrangements Effective Computational Geometry for Curves and Surfaces, JeanDaniel Boissonnat and Monique Teillaud (eds.), Springer, Mathematics and Visualization series, 2007, Chapter 1, pp. 166. [link] [bibtex]  E. Berberich, E. Fogel, D. Halperin, K. Mellhorn, and R. Wein
Sweeping and maintaning twodimensional arrangements on surfaces: a first step Proceedings 15th Annual European Symposium on Algorithms (ESA) 2007, pp. 645656 [pdf] [bibtex] [project page]  M. de Berg, D. Halperin and M. Overmars
An intersectionsensitive algorithm for snap rounding Computational Geometry: Theory and Applications 36, 2007, pp. 159165. [pdf] [bibtex]  E. Fogel and D. Halperin
Exact and efficient construction of Minkowski sums of convex polyhedra with applications Computer Aided Design, 39(11):929940, 2007. [bibtex] [project page] A prelimenary version appeared in Proc. 8^{th} Workshop on Algorithm Engineering and Experiments (ALENEX) 2006 [pdf] [bibtex]  R. Wein, E. Fogel, B. Zukerman and D. Halperin
Advanced programming techniques applied to CGAL's arrangement package Proc. LibraryCentric Software Design Workshop, LCSD'05, San Diego, California, 2005 [pdf] [bibtex]  E. Fogel and D. Halperin
Video: Exact Minkowski sums of convex polyhedra Proc. 21st ACM Symposium on Computational Geometry, SoCG 2005, Pisa, Italy, 2005, 382383. [movie] [pdf] [bibtex] [project page]  E. Fogel, R. Wein and D. Halperin
Code flexibility and program efficiency by genericity: Improving CGAL's arrangements Proc. 12th Annual European Symposium on Algorithms (ESA), Bergen, Norway, 2004, 664676. [pdf] [bibtex]  D. Halperin and E. Leiserowitz
Controlled perturbation for arrangements of circles International Journal of Computational Geometry and Applications, 14 (4 & 5), 2004, pp. 277310. Special issue, papers from SoCG 2003. [pdf] [bibtex] [project page] A preliminary version appeared in Proc. 19th ACM Symposium on Computational Geometry, SoCG 2003, San Diego, 264273  C. Linhart, D. Halperin, S. HarPeled and I. Hanniel
Online zone construction in arrangements of lines in the plane International Journal of Computational Geometry and Applications, 13:6 (2003), pp. 463485. [pdf] [bibtex] [project page] A preliminary version with Y. Aharoni appeared in Proc. 3rd International Workshop on Algorithm Engineering (WAE), London, 1999,Springer LNCS Vol. 1668, 139153  D. Halperin and E. Packer
Iterated snap rounding Computational Geometry: Theory and Applications, 23(2), 2002, pp. 209222. [pdf] [bibtex] [project page] A preliminary version appeared in Abstracts 17th European Workshop on Computational Geometry, Berlin, 2001, 8285  D. Halperin
Robust geometric computing in motion International Journal of Robotics Research, 21 (3), 2002, pp. 219232. Appeared in: Algorithmic and Computational Robotics: New Dimensions (WAFR '00). B.R. Donald and K.M. Lynch and D. Rus (eds.,) A.K. Peters, Wellesley, 2001, pp. 922. Invited talk at WAFR 2000, Workshop on Algorithmic Foundations of Robotics , Dartmouth College, March 2000. [pdf] [bibtex]  E. Ezra, D. Halperin and M. Sharir
Speeding up the incremental construction of the union of geometric objects in practice Computational Geometry: Theory and Applications, 27 (2004), pp. 6385. Special issue, papers from the 18th European Workshop on Computational Geometry, Warsaw, April 2002. [pdf] [bibtex] [project page] A preliminary version appeared in Proc. 10th Europen Symposium on Algorithms (ESA), Rome, 2002, 473484. See also article entitled "Efficient Construction of the Union of Geometric Objects" in Proc. 18th European Workshop on Computational Geometry, Warsaw, 2002, pp.5660  E. Flato, E. Fogel, D. Halperin and E. Leiserowitz
Video: Exact Minkowski sums and applications Proc. 18th ACM Symposium on Computational Geometry, Barcelona, 2002, 273274. [movie] [bibtex] [project page]  P.K. Agarwal, E. Flato and D. Halperin
Polygon decomposition for efficient construction of Minkowski sums Computational Geometry: Theory and Applications, Special Issue, selected papers from the European Workshop on Computational Geometry, Eilat, 2000, vol. 21 (2002), 3961. [pdf] [bibtex] preliminary version appeared in Proc. 8th European Symposium on Algorithms (ESA), Saarbrücken, 2000. Springer LNCS Vol. 1879, 2031. See also Eyal Flato's thesis [pdf] [bibtex] [project page]  E. Flato and D. Halperin
Robust and efficient construction of planar Minkowski sums Abstracts 16th European Workshop on Computational Geometry, Eilat, 2000, 8588. [pdf] [bibtex] [project page] See also Eyal Flato's thesis [pdf] [bibtex] [project page]  I. Hanniel and D. Halperin
Twodimensional arrangements in CGAL and adaptive point location for parametric curves Proc. 4th International Workshop on Algorithm Engineering (WAE), Saarbrücken, LNCS Vol. 1982, Springer, 2000, 171182. [pdf] [bibtex] [project page] See also Iddo Hanniel's thesis [pdf] [bibtex]  E. Flato, D. Halperin, I. Hanniel, O. Nechushtan and E. Ezra
The design and implementation of planar maps in CGAL The ACM Journal of Experimental Algorithmics Volume 5, 2000, pp. 123. [pdf] [bibtex] [ project page] A preliminary version appeared in Proc. 3rd International Workshop on Algorithm Engineering (WAE), London, 1999, Springer LNCS Vol. 1668, 154168  D. Halperin and C.R. Shelton
A perturbation scheme for spherical arrangements with application to molecular modeling (the full version, MIT AI MEMO) Computational Geometry: Theory and Applications 10 (4), 1998, pp. 273288. [pdf] [bibtex] A preliminary version appeared in Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997, 183192.  D. Halperin and S. Raab
Controlled perturbation for arrangements of polyhedral surfaces. [pdf] A preliminary version entitled: Controlled perturbation for arrangements of polyhedral surfaces with application to swept volumes by S. Raab appeared in Proc. 15th ACM Symposium on Computational Geometry, Miami, 1999, 163172. [bibtex] [project page] See also Sigal Raab's thesis [pdf] [bibtex]
Arrangements
Papers reporting on the experimental study of arrangements including arrangements in CGAL appear above under Robust Geometric Computing and CGAL
 N. Alon, O. Nechushtan, D. Halperin, and M. Sharir
The complexity of the outer face in arrangements of random segments Proc. of the Twentyfourth Annual Symposium on Computational Geometry SOCG, 2008, pp 6978. [link] [bibtex] [project page]  D. Halperin
Arrangements CRC Handbook of Discrete and Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca Raton, FL, 2004, pp. 529562. [link] [bibtex]  H. Shaul and D. Halperin
Improved construction of vertical decompositions of 3D arrangements Proc. 18th ACM Symposium on Computational Geometry, Barcelona, 2002, 283292. [pdf] [bibtex] [project page] Also appeared in Proc. 18th European Workshop on Computational Geometry, Warsaw, 2002, pp. 101105  B. Aronov, A. Efrat, D. Halperin, and M. Sharir
On the number of regular vertices of the union of Jordan regions Discrete and Computational Geometry, 25 (2001), 203220. [pdf] [bibtex] A preliminary version appeared in Proc. 6th Scandinavian Workshop on Algorithm Theory (SWAT), Stockholm, 1998, pp. 322334.  M. de Berg, D. Halperin, M.H. Overmars and M. van Kreveld
Sparse arrangements and the number of views of polyhedral scenes International Journal of Computational Geometry and Applications 7 (1997), 175195. [pdf] [bibtex]  M. de Berg, L.J. Guibas and D. Halperin
Vertical decompositions for triangles in 3space Discrete and Computational Geometry, 15 (1996), 3661. [pdf] [bibtex] A preliminary version appeared in Proc. 10th ACM Symposium on Computational Geometry, Stony Brook, 1994, 110.  D. Halperin and M. Sharir
Almost tight upper bounds for the single cell and zone problems in three dimensions Discrete and Computational Geometry, special issue of papers from the 10th ACM Symposium on Computational Geometry, 14 (1995), 385410. [pdf] [bibtex] A preliminary version appeared in Proc. 10th ACM Symposium on Computational Geometry, Stony Brook, 1994, 1120.  L.J. Guibas, D. Halperin, J. Matousek and M. Sharir
On vertical decomposition of arrangements of hyperplanes in four dimensions Discrete and Computational Geometry 14 (1995), 113122. [pdf] [bibtex] A preliminary version appeared in Proc. 5th Canadian Conference on Computational Geometry, Waterloo, 1993, pp. 127132.  S. HarPeled, T. M. Chan, B. Aronov, D. Halperin and J. Snoeyink
The complexity of a single face of a Minkowski sum Proc. 7th Canadian Conference on Computational Geometry, University Laval, Quebec, 1995, pp. 9196 . [pdf] [bibtex]  D. Halperin and M. Sharir
Arrangements and their applications in robotics: Recent developments The Algorithmic Foundations of Robotics, K. Goldberg, D. Halperin, J.C. Latombe and R. Wilson, Eds., A.K. Peters, Boston, MA, 1995, 495511. [pdf] [bibtex] A preliminary version appeared in Proc. 1st Workshop on the Algorithmic Foundations of Robotics, San Francisco, 1994.  E.M. Arkin, D. Halperin, K. Kedem, J.S.B. Mitchell and N. Naor
Arrangements of segments that share endpoints: Single face results Discrete and Computational Geometry 13 (1995), L\'aszl\'o Fejes T\'oth Festschrift, 257270. [pdf] [bibtex] A preliminary version appeared in Proc. 7th ACM Symposium on Computational Geometry, North Conway, 1991, pp. 324333.  D. Halperin and M. Sharir
New bounds for lower envelopes in three dimensions, with applications to visibility in terrains Discrete and Computational Geometry 12 (1994), 313326. [pdf] [bibtex] A preliminary version appeared in Proc. 9th ACM Symposium on Computational Geometry, San Diego, 1993, 1118.  D. Halperin
On the complexity of a single cell in certain arrangements of surfaces related to motion planning Discrete and Computational Geometry 11 (1994), 133 [pdf] [bibtex] A preliminary version appeared in Proc. 7th ACM Symposium on Computational Geometry, North Conway, 1991, pp. 314323.  D. Halperin and M. Sharir
On disjoint concave chains in arrangements of (pseudo) lines Information Processing Letters 40 (1991), 189192. Corrigendum ibid 51 (1994),5356. [pdf] [bibtex]
Robotics
 Barak Raveh, Angela Enosh, Dan Halperin
A Little More, a Lot Better: Improving Path Quality by a Simple Path Merging Algorithm CoRR, abs/1001.2391, 2010. [link] [bibtex][project page]
 Itamar Berger, Bosmat Eldar, Gal Zohar, Barak Raveh, Dan Halperin
Improving the Quality of NonHolonomic Motion by Hybridizing CPRM Paths CoRR, abs/1009.4787, 2010.
[link] [bibtex]
 Efi Fogel and Dan Halperin
Polyhedral assembly partitioning with infinite translations or the importance of being exact Proc. of the 8th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2008, to appear [pdf] [bibtex] [project page]  R. Wein, J.P. van den Berg and D. Halperin
Planning highquality paths and corridors amidst obstacles Algorithmic Foundations of Robotics VII, pp 491506, 2008 [pdf] [bibtex] [project page]  R. Wein, J.P. van den Berg, and D. Halperin
The visibilityVoronoi complex and its applications Computational Geometry: Theory and Applications, 36 (1) 2007, pp. 6687. [pdf] [bibtex] [project page] A preliminary version appeared in Proc. 21st ACM Symposium on Computational Geometry, Pisa, June 2005, 6372.  R. Wein, J.P. van den Berg, and D. Halperin
Planning nearoptimal corridors amidst obstacles (full version: Planning highquality paths and corridors amidst obstacles) Proc. 7th International Workshop on the Algorithmic Foundations of Robotics, New York City, July 2006. [link] [bibtex] [project page]  O. Ilushin, G. Elber, D. Halperin and R. Wein and M.S. Kim
Precise global collision detection in multiaxis NCmachining ComputerAided Design, 37(9), 2005, pp. 909920. [pdf] [bibtex] [project page] A preliminary version appeared in Proc. International CAD Conference, Thailand, May 2004, pp. 233243.  R. Wein, O. Ilushin, G. Elber and D. Halperin
Continuous path verification in multiaxis NCmachining International Journal of Computational Geometry and Applications, 15 (4) 2005, pp. 351378. Special issue, dedicated to papers from the 20th ACM Symposium on Computational Geometry,Brooklyn, June, 2004. [pdf] [bibtex] [project page] A preliminary version appeared in Proc. 20th ACM Symposium on Computational Geometry, Brooklyn, June 2004, pp. 8695.  D. Halperin, L. Kavraki, and J.C. Latombe
Robotics CRC Handbook of Discrete and Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca Raton, FL, 2004, pp. 10651093. [link] [bibtex]  S. Hirsch and D. Halperin
Hybrid motion planning: Coordinating two discs moving among polygonal obstacles in the plane Proc. 5th Workshop on Algorithmic Foundations of Robotics (WAFR), Nice, 2002, 225241. [pdf] [bibtex] [project page]  D. Halperin, M. Sharir and K. Goldberg
The 2center problem with obstacles Journal of Algorithms 42 (2002), pp. 109134. [pdf] [bibtex] A preliminary version appeared in Proc. 16th ACM Symposium on Computational Geometry, Hong Kong, 2000, 8090.  J. Chen, K. Goldberg, M. Overmars, D. Halperin, K.F. Böhringer, and Y. Zhuang
Computing tolerance parameters for fixturing and feeding The Assembly Automation Journal , 22 (2002), 163172. [link] [bibtex] A preliminary version entitled: Shape Tolerance in Feeding and Fixturing, appeared in: The Algorithmic Foundations of Robotics, P.K. Agarwal, L. Kavraki, and M. Mason, Eds., A.K. Peters, Boston, MA, 1998, 297311.  D. Halperin, J.C. Latombe and R.H. Wilson
A general framework for assembly planning: The motion space approach Algorithmica , 26 (2000), 577601 [pdf] [bibtex] A preliminary version appeared in Proc. 14th ACM Symposium on Computational Geometry , Minneapolis, 1998, 918  K.F. Böhringer, B.R. Donald and D. Halperin
On the area bisectors of a polygon Discrete and Computational Geometry, 22 (1999), 269285. [pdf] [bibtex] A preliminary version entitled: The area bisectors of a polygon and force equilibria in programmable vector fields appeared in: Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997, pp. 457459.  D. Halperin, L. Kavraki, and J.C. Latombe
Robot algorithms CRC Algorithms and Theory of Computation Handbook M. Atallah (editor), CRC Press, Inc., Boca Raton, FL, 1999, Chapter 21 [link] [bibtex]  L.J. Guibas, D. Halperin, H. Hirukawa, J.C. Latombe and R.H. Wilson
Polyhedral assembly partitioning using maximally covered cells in arrangements of convex polytopes Int. J. of Computational Geometry and its applications, 8(2), 1998, 179199. [pdf] [bibtex] A preliminary version appeared in Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, 25532560.  D. Halperin and C.K. Yap
Combinatorial complexity of translating a box in polyhedral 3space Computational Geometry: Theory and Applications, 9, 1998, 181196. [pdf] [bibtex] A preliminary version appeared in Proc. 9th ACM Symposium on Computational Geometry, San Diego, 1993, pp. 2937.  D. Halperin and R.H. Wilson
Assembly partitioning along simple paths: The case of multiple translations Advanced Robotics , 11 ,1997, 127146. [pdf] [bibtex] A preliminary version appeared in IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, 15851592.  D. Halperin and M. Sharir
A nearquadratic algorithm for planning the motion of a polygon in a polygonal environment Discrete and Computational Geometry, 16 ,1996, 121134. [pdf] [bibtex] A preliminary version appeared in Proc. 5th Annual Symposium on Foundations of Computer Science (FOCS), Palo Alto, 1993, 382391.  P. Agarwal, M. de Berg, D. Halperin and M. Sharir
Efficient generation of kdirectional assembly sequences Proc. 7th ACMSIAM Symp. on Discrete Algorithms ,1996, 122131. [pdf] [bibtex]  K.Y. Goldberg, D. Halperin, J.C. Latombe and R.H. Wilson (editors)
Algorithmic Foundations of Robotics A.K. Peters, Wellseley, MA, 1995. [link] [bibtex]  M. de Berg, L.J. Guibas, D. Halperin, M.H. Overmars, O. Schwarzkopf, M. Sharir and M. Teillaud
Reaching a goal with directional uncertainty Theoretical Computer Science 140 ,1995, 301317. [link] [bibtex] A preliminary version appeared in Proc. 4th International Symposium on Algorithms and Computation (ISAAC '93), Hong Kong, 1993, 110.  D. Halperin
Robot motion planning and the single cell problem in arrangements Journal of Intelligent and Robotic Systems 11 ,1994, 4565. [pdf] [bibtex]  A.F. van der Stappen, D. Halperin and M.H. Overmars
The complexity of the free space for a robot moving amidst fat obstacles Computational Geometry: Theory and Applications 3 ,1993, 353373. [pdf] [bibtex]  A.F. van der Stappen, D. Halperin and M.H. Overmars
Efficient algorithms for exact motion planning amidst fat obstacles Proc. IEEE International Conference on Robotics and Automation, Atlanta, 1993, Vol. 1, pp.297304. [pdf] [bibtex]  D. Halperin
Algorithmic motion planning via arrangements of curves and of surfaces Ph.D Thesis, Computer Science Department, Tel Aviv University, Tel Aviv, July 1992. [bibtex]  D. Halperin, M.H. Overmars and M. Sharir
Efficient motion planning for an Lshaped object SIAM Journal on Computing 21 (1992), 123 [pdf] [bibtex] A preliminary version appeared in Proc. 5th ACM Symposium on Computational Geometry, Saarbrücken, 1989, pp. 156166.  D. Halperin and M. Sharir
Improved combinatorial bounds and efficient techniques for certain motion planning problems with three degrees of freedom Computational Geometry: Theory and Applications 1 ,1992, 269303. [link] [bibtex] A preliminary version appeared in Proc. 2nd Canadian Conference on Computational Geometry, Ottawa, 1990, pp. 98101.  D. Halperin
Automatic kinematic modelling of robot manipulators and symbolic generation of their inverse kinematics solutions Proc. 2nd International Workshop on Advances in Robot Kinematics Linz, 1990. pp. 310317. [pdf] [bibtex]  D. Halperin
Kinematic modelling of robot manipulators and automatic generation of their inverse kinematics solutions (in Hebrew; see English abstract at the end of the pdf file) M.Sc Thesis, Computer Science Department, Tel Aviv University, Tel Aviv, August 1986. [pdf][bibtex]
Molecular Modeling
 B.Raveh , A. Enosh , O.FurmanSchueler and D. Halperin
Rapid sampling of molecular motions with prior information constraints PLoS Computational Biology, 2009 [link] [bibtex] [project page]  A.Enosh,B.Raveh,O.FurmanSchueler, D. Halperin,N.BenTal
Generation, comparison and merging of pathways between protein conformations: Gating in Kchannels Biophysical Journal, 2008 [link] [related poster  ppt] [bibtex] [project page]  E. Yaffe and D. Halperin
Approximating the pathway axis and the persistence diagram of a collection of balls in 3space Symposium on Computational Geometry, SoCG, 260269, 2008 [pdf] [bibtex] [project page]  E. Yaffe, D. Fishelovitch, H. J. Wolfson, D. Halperin, R. Nussinov
MolAxis: a server for identification of channels in macromolecule Nucleic Acids Research, 36 (Web Server issue),2008, pp W210W215 [link] [bibtex] [project page]  E. Yaffe, D. Fishelovitch, H. J. Wolfson, D. Halperin, R. Nussinov
MolAxis: efficient and accurate identification of channels in macromolecules Proteins: Structure, Function, and Bioinformatics. Volume 73, issue 1, 2008, Pp 7286 [link] [bibtex] [project page]  ND. Rubinstein, I. Mayrose, D. Halperin, D. Yekutieli, JM. Gershoni and T. Pupko
Computational characterization of BCell epitopes Molecular Immunology 45, 2008, pp 34773489 [link] [bibtex]  A. Enosh, S. J. Fleishman, N. BenTal and D. Halperin
Prediction and simulation of motion in Pairs of transmembrane alphahelices Proc. 5th European Conference on Computational Biology  ECCB 2006 , Eilat, Israel, 2007. [link] [bibtex]  S. J. Fleishman, S.E. Harrington, A. Enosh, D. Halperin, C.G. Tate and N. BenTal
Quasisymmetry in the CryoEM structure of EmrE provides the key to modeling its transmembrane Domain Journal of Molecular Biology, 364 (2006), 5467. [link] [bibtex]  E. Eyal and D. Halperin
Improved maintenance of molecular surfaces using dynamic graph connectivity Proc. 5th International Workshop on Algorithms in Bioinformatics  WABI 2005 , Mallorca, Spain, 2005, Springer LNCS, Vol. 3692. [pdf] [bibtex] [project page]  E. Eyal and D. Halperin
Dynamic maintenance of molecular surfaces under conformational changes Proc. 21st ACM Symposium on Computational Geometry , Pisa, June 2005, 4554. [pdf] [bibtex] [project page]  A. Enosh, S.J. Fleishma, N. BenTal and D. Halperin
Assigning transmembrane segments to helics in intermediateresolution structures Proc. Twelfth International Conference on Intelligent Systems for Molecular Biology (ISMB), held jointly with the Third European Conference on Computational Biology (ECCB), Glasgow, JulyAugust, 2004, pp. 122129. [pdf] [bibtex]  I. Lotan, F. Schwarzer, D. Halperin and J.C. Latombe
Algorithm and data structures for efficient energy maintenance during Monte Carlo simulation of proteins Journal of Computational Biology 11 (5), 2004, 902932. [pdf] [bibtex] A preliminary and partial version, titled: Efficient maintenance and selfcollision testing for kinematic chains, appeared in Proc. 18th ACM Symposium on Computational Geometry, Barcelona, 2002, pp, 4352.  D. Halperin and C.R. Shelton
A perturbation scheme for spherical arrangements with application to molecular modeling Computational Geometry: Theory and Applications 10 (4), 1998, 273288. (see also the section "Robust geometric computing" above). [pdf] [bibtex] A preliminary version appeared in Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997, 183192.  D. Halperin and M.H. Overmars
Spheres, molecules, and hidden surface removal Computational Geometry: Theory and Applications 11 (2), 1998, 83102. [pdf] [bibtex] A preliminary version appeared in Proc. 10th ACM Symposium on Computational Geometry, Stony Brook, 1994, 113122.  P.W. Finn, D. Halperin, L. Kavraki, J.C. Latombe, R. Motwani, C.Shelton, and S. Venkatasubramanian
Geometric manipulation of flexible ligands Applied Computational Geometry: Towards geometric Engineering M.C. Lin and D. Manocha (editors), Springer 1996, (papers from the ACM Workshop on Applied Computational Geometry 1996), pp. 6778. [pdf] [bibtex]  D. Halperin, J.C. Latombe, and R. Motwani
Dynamic maintenance of kinematic structures Algorithms for Robotic Motion and manipulation (WAFR '96), J.P. Laumond and M. Overmars (editors), A.K. Peters, Wellesley, 1997, pp. 155170. [pdf] [bibtex] A preliminary version appeared in Proc. 2nd Workshop on the Algorithmic Foundations of Robotics, Toulouse, 1996.
Miscellaneous
 E. Fogel, D. Halperin, and C. Weibel
On the exact maximum complexity of Minkowski sums of convex polyhedra To appear in Journal of Discrete and Computational Geometry [link] A preliminary version appeared inACM Symposium on Computational Geometry 2007, pp. 319326 [pdf] [bibtex] [project page] [link]  H.K. Ahn, M. de Berg, P. Bose, S.W. Cheng, D. Halperin, J. Matousek, and O. Schwarzkopf
Separating an object from its cast ComputerAided Design, 34 (8), 2002, pp. 547559. [pdf] [bibtex] A preliminary version appeared in Proc. 13th ACM Symposium on Computational Geometry, Nice, 1997, pp. 221230.  B. Aronov, H. Brönimann, D. Halperin and R. Schiffenbauer
On the number of views of polyhedral scenes Revised Papers of the Japanese Conference on Discrete and Computational Geometry (JCDCG 2000) , Tokai University, Japan, October 2000. Springer LNCS Vol. 2098, pp. 8190. [pdf] [bibtex]  D. CohenOr, G. Fibich, D. Halperin and E. Zadicario
Conservative visibility and strong occlusion for viewpsace partitioning of densely occluded scenes Eurographics '98, Computer Graphics Forum 17 (3) (1998), C243C253. [pdf] [bibtex]  M. Charikar, D. Halperin and R.Motwani
The dynamic servers problem Proc. 9th ACM Symposium on Discrete Algorithms (SODA), San Francisco, 1998, pp. 410419. [pdf] [bibtex]  M. de Berg, D. Halperin, M.H. Overmars, J. Snoeyink and M. van Kreveld
Efficient ray shooting and hidden surface removal Algorithmica 12 (1994), 3053. [link] [bibtex] A preliminary version appeared in Proc. 7th ACM Symposium on Computational Geometry, North Conway, 1991, pp. 2130.
Surveys, Book Chapters, Book Editing
 D. Halperin and K. Melhorn
Algorithms Proc. 16th Annual European Symposium on Algorithms, 2008 [link] [bibtex]  D. Halperin
Engineering Geometric Algorithms In Encyclopedia of Algorithms, 2008 [link] [bibtex]  E. Fogel, D. Halperin, L. Kettner, M. Teillaud, R. Wein and N. Wolpert
Arrangements Effective Computational Geometry for Curves and Surfaces, JeanDaniel Boissonnat and Monique Teillaud (eds.), Springer, Mathematics and Visualization series, 2007, Chapter 1, pp. 166. [link] [bibtex]  D. Halperin
Arrangements CRC Handbook of Discrete and Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca Raton, FL, 2004, pp. 529562. [link] [bibtex]  D. Halperin, L. Kavraki, and J.C. Latombe
Robotics CRC Handbook of Discrete and Computational Geometry, 2nd Edition, J.E. Goodman and J. O'Rourke (eds.), CRC Press, Inc., Boca Raton, FL, 2004, pp. 10651093. [link] [bibtex]  D. Halperin
Robust geometric computing in motion International Journal of Robotics Research, 21 (3), 2002, pp. 219232. Appeared in: Algorithmic and Computational Robotics: New Dimensions (WAFR '00). B.R. Donald and K.M. Lynch and D. Rus (eds.,) A.K. Peters, Wellesley, 2001, pp. 922. Invited talk at WAFR 2000, Workshop on Algorithmic Foundations of Robotics , Dartmouth College, March 2000. [pdf] [bibtex]  D. Halperin, L. Kavraki, and J.C. Latombe
Robot algorithms CRC Algorithms and Theory of Computation Handbook M. Atallah (editor), CRC Press, Inc., Boca Raton, FL, 1999, Chapter 21. [pdf] [bibtex]  D. Halperin and M. Sharir
Arrangements and their applications in robotics: Recent developments The Algorithmic Foundations of Robotics, K. Goldberg, D. Halperin, J.C. Latombe and R. Wilson, Eds., A.K. Peters, Boston, MA, 1995, 495511. [pdf] [bibtex] A preliminary version appeared in Proc. 1st Workshop on the Algorithmic Foundations of Robotics, San Francisco, 1994.  D. Halperin
Robot motion planning and the single cell problem in arrangements Journal of Intelligent and Robotic Systems 11 (1994), 4565. [pdf] [bibtex]
Books and Proceedings
 Guy E. Blelloch, Dan Halperin
Proceedings of the Twelfth Workshop on Algorithm Engineering and Experiments, ALENEX 2010, Austin, Texas, USA, January 16, 2010 ALENEX, SIAM 2010. [bibtex]
