J. Goodman and J. O'Rourke, editors The Handbook of Discrete and Computational Geometry CRC Press LLC 1997, second edition 2004 ISBN 1-58488-301-4
H. Edelsbrunner Algorithms in Combinatorial Geometry EATCS Monographs on Theoretical Computer Science, Vol 10 Springer-Verlag 1987 ISBN 3-540-13722-X J. Pach and P. Agarwal Combinatorial Geometry John Wiley & Sons 1995 ISBN 0-471-58890-3
M. Overmars The Design of Dynamic Data Structures Lecture Notes in Computer Science, Vol 156 Springer-Verlag 1983 ISBN 3-540-12330-X H. Samet The Design and Analysis of Spatial Data Structures Addison-Wesley 1990 ISBN 0-201-50255-0 H. Samet Applications of Spatial Data Structures Addison-Wesley 1990 ISBN 0-201-50300-X
K. Mulmuley Computational Geometry: An Introduction Through Randomized Algorithms Prentice Hall 1994 ISBN 0-13-336363-5
A. Okabe, B. Boots, and K. Sugihara Spatial Tessellations: Concepts and Applications of Voronoi Diagrams John Wiley & Sons 1992 R. Klein Concrete and Abstract Voronoi Diagrams Lecture Notes in Computer Science, Vol 400 Springer-Verlag 1989
M. Sharir and P. Agarwal Davenport-Schinzel Sequences and Their Geometric Applications Cambridge University Press 1995 ISBN 0-521-47025-0
M. de Berg Ray Shooting, Depth Orders and Hidden Surface Removal Lecture Notes in Computer Science, Vol 703 Springer-Verlag 1993 ISBN 3-540-57020-9
J.-C. Latombe Robot Motion Planning Kluwer Academic Publishers 1991 K. Goldberg, D. Halperin, J.-C. Latombe, R. Wilson Algorithmic Foundations of Robotics A.K. Peters 1995 ISBN 1-56881-045-8 J.-P. Laumond, M. Overmars Algorithms for Robotic Motion and Manipulation A.K. Peters 1997 ISBN 1-56881-067-9 P.K. Agarwal, L.E. Kavraki, M.T. Mason Robotics, The Algorithmic Perspective A.K. Peters 1998 ISBN 1-56881-081-4
K. Mehlhorn, S. Naeher, LEDA, A Platform for Combinatorial and Geometric Computing Cambridge University Press 1999 ISBN 0-521-56329-1