What's wrong with collision detection in multibody dynamics simulation?

Daniel Montrallo Flickinger, Jedediyah Williams, Jeffrey C. Trinkle. What's wrong with collision detection in multibody dynamics simulation?. In 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013. pages 959-964, IEEE, 2013. [doi]

Abstract

Abstract is missing.