Gregory J. Hamlin, Robert B. Kelley, Josep Tornero. Efficient distance calculation using the spherically-extended polytope (S-tope) model. In Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 12-14, 1992. pages 2502-2507, IEEE, 1992. [doi]
@inproceedings{HamlinKT92,
title = {Efficient distance calculation using the spherically-extended polytope (S-tope) model},
author = {Gregory J. Hamlin and Robert B. Kelley and Josep Tornero},
year = {1992},
doi = {10.1109/ROBOT.1992.220065},
url = {http://dx.doi.org/10.1109/ROBOT.1992.220065},
researchr = {https://researchr.org/publication/HamlinKT92},
cites = {0},
citedby = {0},
pages = {2502-2507},
booktitle = {Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 12-14, 1992},
publisher = {IEEE},
isbn = {0-8186-2720-4},
}