Please visit Bruce Donald's personal web page for up-to-date information, research, teaching, and publications. That website is hosted by the Departments of Computer Science, Chemistry, and Biochemistry at Duke University.
Donald, BR. "The complexity of planar compliant motion planning Under Uncertainty." January 6, 1988.
Canny, J, and Donald, B. "Simplified voronoi diagrams." October 1, 1987.