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Geographic routing is becoming the protocol of choice for many sensor network applications. The current state of the art is unsatisfactory: some algorithms are very efficient, however they require a preliminary planarization of the communication graph. Planarization induces overhead and is not realistic in many scenarios. On the otherhand, georouting algorithms which do not rely on planarization have fairly low success rates and either fail to route messages around all but the simplestarXiv:cs/0703094v1 fatcat:tpjbkyfe5jc25m2zrnomdfnrlm