@InProceedings{Patoglu2002,
	title = {{External Distance Maintanance for Parametric Curves and Surfaces}},
	year = {2002},
	author = {Volkan Patoglu and R. Brent Gillespie},
	booktitle = {IEEE Symposium on Robotics and Automation (ICRA)},
	abstract ={A new extremal distance tracking algorithm is presented for parametric curves and surfaces undergoing rigid body motion. The essentially geometric extremization problem is transformed into a dynamical control problem
by differentiating with respect to time. Extremization is then solved with the design of a stabilizing controller. We use a feedback linearizing controller. The controller simultaneously accounts for the surface shape and motion
while asymptotically achieving (and maintaining) the extremal pair. Thus collision detection takes place in a framework fully analogous to the framework used for the simulation of dynamical response.}
}


%%%%%%%%%%%%%%%%%%%% Year:2003 %%%%%%%%%%%%%%%%%%%%

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