Yunhui Liu, Hiroshi Noborio, Suguru Arimoto. Hierarchical Sphere Model (HSM) and Its Application for Checking an Interference Between Moving Robots. In IEEE International Workshop on Intelligent Robots and Systems '88, Proceedings. IROS 1988, Tokyo, Japan, October 31 - November 2, 1988. pages 801-806, IEEE, 1988. [doi]
Abstract is missing.