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MR403962 (53 #7771) 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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