RIO DE JANEIRO—Public outrage over the deadly collapse of an elevated seaside bike path in Rio de Janeiro just months before the Olympics intensified Friday, as ties emerged between the company responsible for the project and city officials.

Meanwhile, rescue workers continued scouring the ocean off Rio’s coast for up to three more bodies of people believed to have been on the roughly 80-foot stretch of the bikeway when a large wave knocked it off its supporting pillars.

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