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10-Gabriel graphs are Hamiltonian

Given a set $S$ of points in the plane, the $k$-Gabriel graph of $S$ is the geometric graph with vertex set $S$, where $p_i,p_j\in S$ are connected by an edge if and only if the closed disk having segment $\bar{p_ip_j}$ as diameter contains at most $k$ points of $S \setminus \{p_i,p_j\}$. We consider the following question: What is the minimum value of $k$ such that the $k$-Gabriel graph of every point set $S$ contains a Hamiltonian cycle? For this value, we give an upper bound of 10 and a lower bound of 2. The best previously known values were 15 and 1, respectively.