title = {Deformable free space tilings for kinetic collision detection},
author = {Pankaj Kumar Agarwal and Julien Basch and Leonidas J. Guibas and John E. Hershberger and Li Zhang},
journal = {Int. J. Robotics Research},
volume = {21},
number = {3},
pages = {179--197},
month = {Mar},
year = {2002}}

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