Author: Ruth Hass, David Orden, Günter Rote, Francisco Santos, Brigitte Servatius , Herman Servatius, Diane Souvaine, Ileana Streinu and Walter Whiteley
Proceedings version appeared in
Proc.
ACM Symp. Comp. Geometry (SoCG)
San Diego, California, June 2003, pp. 154-163.
pdf
Journal version:
Computational Geometry 31, no. 1-2, 31--61, 2005.