Preface {v} 1 Polygon Triangulation {1} 2 Polygon Partitioning {51} 3 Convex Hulls in Two Dimensions {73} 4 Convex Hulls in Three Dimensions {119} 5 Voronoi Diagrams {181} 6 Arrangements {227} 7 Search and Intersection 257 8 Motion Planning {343} 9 Sources {405} Bibliography {410}