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I present a practical configuration space computation algorithm for pairs of curved planar parts based on the general algorithm developed by Bajaj and me. The general algorithm advances the theoretical understanding of configuration space computation, but is too slow and fragile for some applications. The new algorithm solves these problems by restricting the analysis to parts bounded by line segments and circular arcs, whereas the general algorithm handles rational parametric curves. Thedoi:10.1177/027836499901800104 fatcat:nmnxx6kagnbpnkry4mctv4ydvq