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Excerpt from Robotics Research Technical Report: Visibility Problems for Polyhedral Terrains Work on this paper has been supported by Office of Naval Research Grant N00014-82-K-0381, National Science Foundation Cer Grant Dcr-83-20085, and by grants from the Digital Equipment Corporation and the Ibm Corporation. Work by the first author has also been supported by NSF grant Dcr-84-01633 and by an IBM faculty development award. About the Publisher Forgotten Books publishes hundreds of thousands of rare and classic books. Find more at www.forgottenbooks.com This book is a reproduction of an important historical work. Forgotten Books uses state-of-the-art technology to digitally reconstruct the work, preserving the original format whilst repairing imperfections present in the aged copy. In rare cases, an imperfection in the original, such as a blemish or missing page, may be replicated in our edition. We do, however, repair the vast majority of imperfections successfully; any imperfections that remain are intentionally left to preserve the state of such historical works.