@article{b-chspp-03
, author = {Sergei Bespamyatnikh}
, title = {Computing Homotopic Shortest Paths in the Plane}
, journal = {J. Algorithms}
, year = {2003}
, volume = {49}
, number = {2}
, pages = {284--303}
, url = {http://authors.elsevier.com/sd/article/S0196677403000907}
}