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MR403962 02H15 (12D15 68A20 02J15)
Collins, George E. Quantifier elimination for real closed fields by cylindrical algebraic decomposition. Automata theory and formal languages (Second GI Conf., Kaiserslautern, 1975), pp. 134–183. Lecture Notes in Comput. Sci., Vol. 33, Springer, Berlin, 1975.
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