Shujuan Peng Yuanxiang Li Hui Zeng Self-collision Detection for Rigid Non-convex Multi-link Model. 91-100 2008 ICIRA (2) http://dx.doi.org/10.1007/978-3-540-88518-4_11 conf/icira/2008-2 db/conf/icira/icira2008-2.html#PengLZ08