Chong Jin Ong, Elmer G. Gilbert. The Gilbert-Johnson-Keerthi distance algorithm: a fast version for incremental motions. In Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, USA, April 20-25, 1997. pages 1183-1189, IEEE, 1997. [doi]
Abstract is missing.