Algorithms for Routing around a Rectangle. Frank, A., Nishizeki, T., Saito, N., Suzuki, H., & Tardos, É. Discret. Appl. Math., 40(4):363–378, 1992.
Algorithms for Routing around a Rectangle [link]Paper  doi  bibtex   
@article{DBLP:journals/dam/FrankNSS92,
  author       = {Andr{\'{a}}s Frank and
                  Takao Nishizeki and
                  Nobuji Saito and
                  Hitoshi Suzuki and
                  {\'{E}}va Tardos},
  title        = {Algorithms for Routing around a Rectangle},
  journal      = {Discret. Appl. Math.},
  volume       = {40},
  number       = {4},
  pages        = {363--378},
  year         = {1992},
  url          = {https://doi.org/10.1016/0166-218X(92)90007-W},
  doi          = {10.1016/0166-218X(92)90007-W},
  timestamp    = {Thu, 11 Feb 2021 00:00:00 +0100},
  biburl       = {https://dblp.org/rec/journals/dam/FrankNSS92.bib},
  bibsource    = {dblp computer science bibliography, https://dblp.org}
}

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