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MR1325530 (95m:03078) 03C60 (03C10 03D15)
Canny, J.; Grigorʹev, D. Yu.; Vorobjov, N. N., Jr. Finding connected components of a semialgebraic set in subexponential time. Appl. Algebra Engrg. Comm. Comput. 2 (1992), no. 4, 217–238.
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