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MR1156882 (93h:03011a) 03B25 (03C10 03D15 12L05 68Q15 68Q22 68Q40)
Renegar, James On the computational complexity and geometry of the first-order theory of the reals. I. Introduction. Preliminaries. The geometry of semi-algebraic sets. The decision problem for the existential theory of the reals. J. Symbolic Comput. 13 (1992), no. 3, 255–299.
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