There's been research on this, e.g. http://www.cs.nmsu.edu/~jeffery/alamo/ http://www.cs.nmsu.edu/~jeffery/alamo/ That's about 10 years old, though, and I don'

There's been research on this, e.g. http://www.cs.nmsu.edu/~jeffery/alamo/ http://www.cs.nmsu.edu/~jeffery/alamo/ That's about 10 years old, though, and I don't know what's been done since.