Mehdi Benallègue, Adrien Escande, Sylvain Miossec, Abderrahmane Kheddar. Fast C1 proximity queries using support mapping of sphere-torus-patches bounding volumes.
ICRA: International Conference on Robotics and Automation, May 2009, Kobe, Japan. pp.483-488,
⟨10.1109/ROBOT.2009.5152722⟩.
⟨lirmm-00796369⟩