- On the Complexity of Motion Planning for Multiple Independent Objects; Pspace Hardness of the Warehouseman's Problem - Primary Source Edition
- Linear time algorithms for visibility and shortest path problems inside simple polygons
- Structural Analysis: A New Approach to Flow Analysis in Optimizing Compliers - Primary Source Edition
- Motion Planning and Related Geometric Algorithms in Robotics
- Sharp Upper and Lower Bounds on the Length of General Davenport- Schinzel Sequences