Simulation-based fast collision detection for scaled polyhedral objects in motion by exploiting analytical contact equations

Jing-Sin Liu, Wen-Hua Pan, Wen-Yang Ku, Y. H. Tsao, Yau-Zen Chang. Simulation-based fast collision detection for scaled polyhedral objects in motion by exploiting analytical contact equations. Robotica, 34(1):118-134, 2016. [doi]

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