Qiaode Jeffrey Ge, Anurag Purwar, Jun Wu. Kinematic convexity of spherical displacements and its application to collision prediction. In Eric Haines, Morgan McGuire, editors, Proceedings of the 2008 ACM Symposium on Solid and Physical Modeling, Stony Brook, New York, USA, June 2-4, 2008. pages 375-380, ACM, 2008. [doi]
Abstract is missing.