A modeless convex hull algorithm for simple polygons M. A. Peshkin A. C. Sanderson 10.1184/R1/6550577.v1 https://kilthub.cmu.edu/articles/journal_contribution/A_modeless_convex_hull_algorithm_for_simple_polygons/6550577 Robotics Institute 1985-01-01 00:00:00 Algorithms.