Deformable free space tilings for kinetic collision detection

Pankaj Kumar Agarwal, Julien Basch, Leonidas J. Guibas, John E. Hershberger, and Li Zhang
Int. J. Robotics Research 21(3):179–197, Mar 2002
Proc. 4th Int. Worksh. Algorithmic Foundations of Robotics (WAFR 2000), 2000
http://citeseer.nj.nec.com/agarwal00deformable.html

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