What's wrong with collision detection in multibody dynamics simulation? - Daniel Montrallo Flickinger; Jedediyah Williams; Jeffrey C. Trinkle (ICRA, 2013)

RPI-MATLAB-Simulator: A Tool for Efficient Research and Practical Teaching in Multibody Dynamics. - Jedediyah Williams; Ying Lu; Sarah Niebe; Michael Andersen; Kenny Erleben; Jeffrey C. Trinkle (VRIPHYS, 2013)

A contact model for geometrically accurate treatment of polytopes in simulation. - Jedediyah Williams (2014)