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MR1272047 14Q15 (14P10 65H99 68Q40)
Heintz, Joos; Roy, Marie-Françoise; Solernó, Pablo Single exponential path finding in semi-algebraic sets. II. The general case. Algebraic geometry and its applications (West Lafayette, IN, 1990), 449–465, Springer, New York, 1994.
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