Feedback-stabilized minimum distance maintenance for convex parametric surfaces. Patoglu, V. & Brent Gillespie, R. IEEE Transactions on Robotics (TROB), 21(5):1009-1016, 2005.
Feedback-stabilized minimum distance maintenance for convex parametric surfaces [link]Paper  bibtex   
@article{ dblp2774646,
  title = {Feedback-stabilized minimum distance maintenance for convex parametric surfaces},
  author = {Volkan Patoglu and R. Brent Gillespie},
  author_short = {Patoglu, V. and Brent Gillespie, R.},
  bibtype = {article},
  type = {article},
  year = {2005},
  key = {dblp2774646},
  id = {dblp2774646},
  biburl = {http://www.dblp.org/rec/bibtex/journals/trob/PatogluG05},
  url = {http://dx.doi.org/10.1109/TRO.2005.847569},
  journal = {IEEE Transactions on Robotics (TROB)},
  pages = {1009-1016},
  number = {5},
  volume = {21},
  text = {IEEE Transactions on Robotics (TROB) 21(5):1009-1016 (2005)}
}

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