a. Input: halfspaces H and partial basis (planes) B
b. Sentinel constraints
c. Incremental algorithm
d. Correctness: violated constraint must be in the optimal basis
e. Worst-case analysis: O(n^d) time
f. Randomized analysis: ≤ (e-1)·d!·n expected violation tests, O(d·d!·n) expected time
g. Minimum-area enclosing annulus