Philipp Kindermann Benjamin Niedermann Ignaz Rutter Marcus Schaefer 0001 André Schulz 0001 Alexander Wolff 0001 225-258 2016 76 Algorithmica 1 https://doi.org/10.1007/s00453-015-0028-4 db/journals/algorithmica/algorithmica76.html#KindermannNRS0W16