Distance functions and their application to robot path planning in the presence of obstacles. - Elmer G. Gilbert; Daniel W. Johnson (IEEE J. Robotics Autom., 1985)

A fast procedure for computing the distance between complex objects in three space. - Elmer G. Gilbert; Daniel W. Johnson; S. Sathiya Keerthi (ICRA, 1987)

A fast procedure for computing the distance between complex objects in three-dimensional space. - Elmer G. Gilbert; Daniel W. Johnson; S. Sathiya Keerthi (IEEE J. Robotics Autom., 1988)