[RA-L 2022] CFC: Collision Detection for Unions of Convex Bodies with Smooth Boundaries using Closed-form Contact Space Parameterization

Ruan, S., Wang, X. and Chirikjian, G.S., 2022. Collision Detection for Unions of Convex Bodies with Smooth Boundaries using Closed-form Contact Space Parameterization. IEEE Robotics and Automation Letters, 7(4), pp.9485-9492

https://ieeexplore.ieee.org/document/9829274