Extremal Distance Maintenance for Parametric Curves and Surfaces. Patoglu, V. & Brent Gillespie, R. In Proceedings of International Conference on Robotics and Automation (ICRA), pages 2817-2823, 2002.  
Paper  bibtex   @inproceedings{ dblp3077146,
  title = {Extremal Distance Maintenance for Parametric Curves and Surfaces},
  author = {Volkan Patoglu and R. Brent Gillespie},
  author_short = {Patoglu, V. and Brent Gillespie, R.},
  bibtype = {inproceedings},
  type = {inproceedings},
  year = {2002},
  key = {dblp3077146},
  id = {dblp3077146},
  biburl = {http://www.dblp.org/rec/bibtex/conf/icra/PatogluG02},
  url = {http://dx.doi.org/10.1109/ROBOT.2002.1013659},
  conference = {ICRA},
  pages = {2817-2823},
  text = {ICRA 2002:2817-2823},
  booktitle = {Proceedings of International Conference on Robotics and Automation (ICRA)}
} 
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