Liang He, Jur P. van den Berg. Efficient exact collision-checking of 3-D rigid body motions using linear transformations and distance computations in workspace. In 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014. pages 2059-2064, IEEE, 2014. [doi]
Abstract is missing.