Elmer G. Gilbert, Daniel W. Johnson, S. Sathiya Keerthi. A fast procedure for computing the distance between complex objects in three space. In Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, North Carolina, USA, March 31 - April 3, 1987. pages 1883-1889, IEEE, 1987. [doi]
Abstract is missing.