Henk Bekker Jos B. T. M. Roerdink An Efficient Algorithm to Calculate the Minkowski Sum of Convex 3D Polyhedra. 619-628 2001 conf/iccS/2001-1 International Conference on Computational Science (1) http://link.springer.de/link/service/series/0558/bibs/2073/20730619.htm db/conf/iccS/iccS2001-1.html#BekkerR01