Ayman Farahat, Peter F. Stiller, Jeffrey C. Trinkle. On the geometry of contact formation cells for systems of polygons. IEEE Transactions on Robotics, 11(4):522-536, 1995. [doi]
@article{FarahatST95,
title = {On the geometry of contact formation cells for systems of polygons},
author = {Ayman Farahat and Peter F. Stiller and Jeffrey C. Trinkle},
year = {1995},
doi = {10.1109/70.406937},
url = {http://dx.doi.org/10.1109/70.406937},
researchr = {https://researchr.org/publication/FarahatST95},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {11},
number = {4},
pages = {522-536},
}